Abstract
Equipment to measure the surface hardness of the human body has been designed for the purpose of estimating muscle generating force from the physiological view point. The surface hardness is defined as the reaction force of the body surface under predetermined thrust displacement. The sensor described here is suitable for analysis of human motion and multipoint measurements because of its compactness. From the results of experiments on elbow joints, a relationship was found between the measured hardness and the joint torque. The results also showed that body surface hardness was a function of the joint angle. Moreover, it was shown that muscle forces could be estimated by a neural network when the hardness and joint angle were given.
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