Abstract
This paper presents a method to estimate continuous motion and time-varying stiffness of the human elbow joint based on surface electromyography (sEMG). Firstly, based on the Hill-based muscle model (HMM), a continuous motion estimation model (CMEM) of elbow joint with sEMG signals as input and joint angle as output was established. And the genetic algorithm was used to optimize the unknown parameters in this model. Secondly., the joint kinetic equation expressed the relationship of skeletal muscle stiffness and the elbow joint stiffness. And the time-varying stiffness estimation model (TVSEM) of elbow joint based on sEMG signals was established. So that the TVSEM of the elbow joint based on sEMG signals was established. Finally., the accuracy and validity of the CMEM and the TVSEM of elbow joint were presented by the experimental platform.
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