2P2-B08 Study of Pinpointed Muscle Force Control of lower limb for Innovative Rehabilitation Support : Development and Validation of Musculoskeletal Model(Rehabilitation Robotics and Mechatronics)

Abstract

In this research, we developed a musculoskeletal model of lower limb to realize pinpointed muscle force control in lower limb. The model has 7 links, 14 degrees of freedom and 88 modeled muscles of lower limb with both legs. All muscles are modeled as massless wire model. We validated the model by comparing estimated muscle force change rate from the model to the electromyographic (EMG) change rate. The results show the validating of our musculoskeletal model.