Control of muscle force during exercise using a musculoskeletal-exoskeletal integrated human model

Abstract

The aim of this paper is to arbitrarily modify the load force of any selected muscle by using an exoskeleton, thus enabling "pinpointed" motion support, rehabilitation, and training. An advanced dynamic model, called a musculoskeletal-exoskeletal integrated human model, is developed. The driving-forces of the pneumatic actuators are designated by a muscle force control algorithm using the integrated model. A prototype power-assisting system has been developed using pneumatic rubber actuators. The validity of the method has been confirmed by measuring surface electromyographic (EMG) signals of related muscles. © 2008 Springer-Verlag Berlin Heidelberg.