Abstract
Individual muscle control involves the use of an exoskeleton to induce specific muscle activation patterns during the wearer’s voluntary movement. A pneumatically powered wearable exoskeleton has been developed for the upper extremities. It is comprised of multiple pneumatic artificial muscles, force transducers, and custom-designed software that utilize a musculoskeletal model to predict and modify the wearer’s muscle activities (e.g. activation level, torque). The interaction with such a wearable robot induces muscle activities thatmay not be achieved in the standard exercise environment. The software uses a computational algorithm to plan an adequate motor-task by modeling not only a complex coupling between multiplemuscles and joints, but also the optimization principle in the neuromuscular system that coordinates redundant muscles.
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Ueda, J., Ding, M. (2013). Individual Control of Redundant Skeletal Muscles Using an Exoskeleton Robot. In: Milutinović, D., Rosen, J. (eds) Redundancy in Robot Manipulators and Multi-Robot Systems. Lecture Notes in Electrical Engineering, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33971-4_11
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DOI: https://doi.org/10.1007/978-3-642-33971-4_11
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