Ambulatory estimation of muscle forces of lower limbs in a Rehabilitation robot system

作者：Liu Tao^*; Inoue Yoshio; Shibata Kyoko; Cao Enguo

来源：ICIC Express Letters, Part B: Applications , 2011, 2(1): 235-240.

• Body models
• EMG
• Ground reaction forces
• Healthy subjects
• Inertial sensor
• Inverse dynamics
• Kinetic characterization
• Lower limb
• Medical doctors
• Mobile forces
• Mobile sensor systems
• Mobile sensors
• Muscle force
• Muscle tension
• Musculoskeletal model
• Rehabilitation robot
• Three-dimensional (3D) motion analysis
• Tri-axial forces

In rehabilitation practice, quantitative gait analysis using kinematics and kinetic characterizations can be helpful to medical doctors in monitoring patients' recovery status. We have developed a mobile force plate and three-dimensional (3D) motion analysis system by integrating small triaxial force sensors and 3D inertial sensors for estimating the multi-axial ground reaction force (GRF) and the orientations of the feet during gait. To estimate muscle forces, a musculoskeletal model composed of the shank, anterior and posterior parts of the foot was developed in the Any Body model system. The segment orientations and GRF were measured using a mobile sensor system on a group of healthy subjects (age: 29 ± 4 years, weight: 74 ± 8.5 kg). Estimation of muscle tension forces based on an inverse dynamics anal ysis was implemented and the results matched the variation tendency of electromyography (EMG) activation results reported in the published literature. The method based on the AnyBody model and measurements of the mobile sensors appears to be a feasible means to estimate muscle forces in muscu-loskeletal analysis of lower limbs.

• 出版日期2011
• 单位Kochi University of Technology