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《Journal of Huazhong University of Science and Technology(Natural Science Edition)》 2011-S2
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Power-assistance exoskeleton oriented muscle tension information real-time acquisition

Xiang Kui1 Li Tao1 Song Quanjun2 Ge Yunjian2 (1 School of Automation,Wuhan University of Technology,Wuhan 430070,China;2 Institute of Intelligent Machines,Chinese Academy of Sciences, Hefei 230031,China)  
A muscle tension detection method was researched to serve for motion intension recognition in power-assistance exoskeleton.The biomechanics information in power-assistance environment was acquired to improve the capability of human machine cognitive interaction.The muscle tension sensor based on the muscle elasticity can synchronously detect the pre-pressure and the pressure on the button.The data of calibration experiments was normalized with a nonlinear equation to estimate muscle stiffness.An exoskeleton of upper limbs was designed and used to assist the flexion and extension movement.The muscle tension information was inputted into the exoskeleton control system.The electromyography signal sampled during the experiment proves that the exoskeleton can effectively assist human movement.In conclusion,the principle,structure and computation of the muscle tension are all feasible.
【Fund】: 湖北省自然科学基金资助项目(2009CDB281);; 国家科技支撑计划资助项目(2009BAF40B03)
【CateGory Index】: TP242
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