Abstract
We have proposed a brand-new noninvasive method of joint torque and joint angle estimation by using ultrasound sensor for detecting muscle movement. In this study, the movement of biceps muscle and triceps muscle of human arm are detected with the ultrasound sensors. These muscles have a relation to contraction and extension of elbow joint. We conducted an examination of joint torque estimation under constant joint angles. We also conducted an examination of joint angle estimation under constant joint torques. In these examinations, torque or angle on the elbow joint was measured by using a torque sensor or an 1-Link Arm. The estimations were carried out with Nonlinear regression equations. Correlation coefficients between measured torque/angle and estimated one were calculated. The results show that these estimations by using ultrasound were successful.
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