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

Fingerprint

Muscle
Torque
Chemical activation
Electromyography
Human robot interaction
Ultrasonics
Robots
Imaging techniques

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
Park, Won Il ; Lee, Hae Dong ; Kim, Jung. / Estimation of isometric joint torque from muscle activation and length in intrinsic hand muscle. 2008 International Conference on Control, Automation and Systems, ICCAS 2008. 2008. pp. 2489-2493 (2008 International Conference on Control, Automation and Systems, ICCAS 2008).
@inproceedings{02e535d98f1f4b9e9e179ec962f30d74,
title = "Estimation of isometric joint torque from muscle activation and length in intrinsic hand muscle",
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.",
author = "Park, {Won Il} and Lee, {Hae Dong} and Jung Kim",
year = "2008",
month = "12",
day = "1",
doi = "10.1109/ICCAS.2008.4694273",
language = "English",
isbn = "9788995003893",
series = "2008 International Conference on Control, Automation and Systems, ICCAS 2008",
pages = "2489--2493",
booktitle = "2008 International Conference on Control, Automation and Systems, ICCAS 2008",

}

Park, WI, Lee, HD & 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., 4694273, 2008 International Conference on Control, Automation and Systems, ICCAS 2008, pp. 2489-2493, 2008 International Conference on Control, Automation and Systems, ICCAS 2008, Seoul, Korea, Republic of, 08/10/14. https://doi.org/10.1109/ICCAS.2008.4694273

Estimation of isometric joint torque from muscle activation and length in intrinsic hand muscle. / Park, Won Il; Lee, Hae Dong; Kim, Jung.

2008 International Conference on Control, Automation and Systems, ICCAS 2008. 2008. p. 2489-2493 4694273 (2008 International Conference on Control, Automation and Systems, ICCAS 2008).

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

TY - GEN

T1 - Estimation of isometric joint torque from muscle activation and length in intrinsic hand muscle

AU - Park, Won Il

AU - Lee, Hae Dong

AU - Kim, Jung

PY - 2008/12/1

Y1 - 2008/12/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=58149098979&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=58149098979&partnerID=8YFLogxK

U2 - 10.1109/ICCAS.2008.4694273

DO - 10.1109/ICCAS.2008.4694273

M3 - Conference contribution

AN - SCOPUS:58149098979

SN - 9788995003893

T3 - 2008 International Conference on Control, Automation and Systems, ICCAS 2008

SP - 2489

EP - 2493

BT - 2008 International Conference on Control, Automation and Systems, ICCAS 2008

ER -

Park WI, Lee HD, Kim J. 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. 2008. p. 2489-2493. 4694273. (2008 International Conference on Control, Automation and Systems, ICCAS 2008). https://doi.org/10.1109/ICCAS.2008.4694273