Abstract
In this paper, we consider identification of human standing control law using motion capture and estimation
of joint torque using surface-electromyogram(sEMG). In our laboratory, a wearable leg support system has
been developed for disabled people who can not walk well due to hemiplegia in cerebral infarction, etc.
However, people with leg paralysis have no sense of soles of the feet and it is difficult to maintain a standing
position. Therefore, there is a need for research on standing posture for disabled people with lower limbs.
In previous studies, motion capture and force plate were used to calculate ankle joint torque. In this paper,
we identified standing stabilization control law from ankle joint torque. Although simulation was performed
from the identified control law, it did not stabilize in all the simulations. We also estimated the torque using
sEMG. As a result, it showed high correlation with the torque obtained from the force plate.
