Estimation of isometric joint torque from muscle activation and length in intrinsic hand muscle

Won Il Park, Hae Dong Lee, Jung Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Due to the complicated relationship between a muscle activation level and isometric joint torques, predicting torques under isometric conditions have been an obstacle to neuromuscular control of robots in the field of human robot interaction (HRI). This study describes the isometric torque estimation of the metacarpophalangeal (MCP) joint of a human hand based on the Hill muscle model. Surface electromyography (sEMG) for muscle activation and ultrasound imaging technique for muscle length changes of the first dorsal interosseous (FDI) muscle were employed under isometric condition. The result showed that the prediction is more dependent on sEMG than length change and has a high correlation value (r = 0.9604) with the measured torque. This result indicates the possibility of a torque prediction method based on the Hill muscle model for natural human robot interaction.

Original languageEnglish
Title of host publication2008 International Conference on Control, Automation and Systems, ICCAS 2008
Pages2489-2493
Number of pages5
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 International Conference on Control, Automation and Systems, ICCAS 2008 - Seoul, Korea, Republic of
Duration: 2008 Oct 142008 Oct 17

Publication series

Name2008 International Conference on Control, Automation and Systems, ICCAS 2008

Other

Other2008 International Conference on Control, Automation and Systems, ICCAS 2008
CountryKorea, Republic of
CitySeoul
Period08/10/1408/10/17

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All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Park, W. I., Lee, H. D., & Kim, J. (2008). Estimation of isometric joint torque from muscle activation and length in intrinsic hand muscle. In 2008 International Conference on Control, Automation and Systems, ICCAS 2008 (pp. 2489-2493). [4694273] (2008 International Conference on Control, Automation and Systems, ICCAS 2008). https://doi.org/10.1109/ICCAS.2008.4694273