A functionality test at the level of individual muscles by investigating the activity of a muscle of interest on various tasks may enable muscle-level force grading. This paper proposes a new method for muscle function tests using an exoskeleton robot for obtaining a wider variety of muscle activity data than standard motor tasks, e.g., pushing a handle by his/her hand. A computational algorithm systematically computes control commands to a wearable robot with actuators (an exoskeleton robot, or a power-assisting device) so that a desired muscle activation pattern for target muscle forces is induced. This individual muscle control method enables users (e.g., therapists) to efficiently conduct neuromuscular function tests for target muscles by arbitrarily inducing muscle activation patterns. Simulation results justify the use of an exoskeleton robot for muscle function testing in terms of the variety of muscle activity data.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4892-0
PROCEEDINGS PAPER
Individual Muscle Control Using an Exoskeleton Robot for Muscle Function Testing Available to Purchase
Jun Ueda,
Jun Ueda
Georgia Institute of Technology, Atlanta, GA
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Moiz Hyderabadwala,
Moiz Hyderabadwala
Georgia Institute of Technology, Atlanta, GA
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Ming Ding,
Ming Ding
Nara Institute of Science and Technology, Nara, Japan
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Tsukasa Ogasawara,
Tsukasa Ogasawara
Nara Institute of Science and Technology, Nara, Japan
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Vijaya Krishnamoorthy,
Vijaya Krishnamoorthy
Emory University, Atlanta, GA
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Minoru Shinohara
Minoru Shinohara
Georgia Institute of Technology, Atlanta, GA
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Jun Ueda
Georgia Institute of Technology, Atlanta, GA
Moiz Hyderabadwala
Georgia Institute of Technology, Atlanta, GA
Ming Ding
Nara Institute of Science and Technology, Nara, Japan
Tsukasa Ogasawara
Nara Institute of Science and Technology, Nara, Japan
Vijaya Krishnamoorthy
Emory University, Atlanta, GA
Minoru Shinohara
Georgia Institute of Technology, Atlanta, GA
Paper No:
DSCC2009-2675, pp. 371-378; 8 pages
Published Online:
September 16, 2010
Citation
Ueda, J, Hyderabadwala, M, Ding, M, Ogasawara, T, Krishnamoorthy, V, & Shinohara, M. "Individual Muscle Control Using an Exoskeleton Robot for Muscle Function Testing." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 1. Hollywood, California, USA. October 12–14, 2009. pp. 371-378. ASME. https://doi.org/10.1115/DSCC2009-2675
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