表面筋電位を用いたヒト骨格筋モデルに基づくリアルタイム制御

抄録

We have reported that a muscle model with parallel two Maxwell elements can simulate human practical nonlinear time-dependent movements. In this study, we applied the muscle model to simulate human upper arm for robot arm control, with measuring surface electro-myography (SEMG). We assumed that the biceps brachii consists of several motor units and those are activated with recruitment order and controlled with firing rate coding. For real time control, the SEMG data were recorded with a PC and numerical calculations were done within the data sampling interval time. Several data processing methods (threshold, smoothing, zero crossing, cross correlation) were considered. We compared the simulated force power and discussed to improve the accuracy.