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Sensors 2015, 15(4), 8337-8357; doi:10.3390/s150408337

A Method to Accurately Estimate the Muscular Torques of Human Wearing Exoskeletons by Torque Sensors

Department of Mechanical Engineering, Sogang University, Seoul 121-742, Korea
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Author to whom correspondence should be addressed.
Academic Editor: Vittorio M.N. Passaro
Received: 25 February 2015 / Revised: 31 March 2015 / Accepted: 1 April 2015 / Published: 9 April 2015
(This article belongs to the Section Physical Sensors)
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Abstract

In exoskeletal robots, the quantification of the user’s muscular effort is important to recognize the user’s motion intentions and evaluate motor abilities. In this paper, we attempt to estimate users’ muscular efforts accurately using joint torque sensor which contains the measurements of dynamic effect of human body such as the inertial, Coriolis, and gravitational torques as well as torque by active muscular effort. It is important to extract the dynamic effects of the user’s limb accurately from the measured torque. The user’s limb dynamics are formulated and a convenient method of identifying user-specific parameters is suggested for estimating the user’s muscular torque in robotic exoskeletons. Experiments were carried out on a wheelchair-integrated lower limb exoskeleton, EXOwheel, which was equipped with torque sensors in the hip and knee joints. The proposed methods were evaluated by 10 healthy participants during body weight-supported gait training. The experimental results show that the torque sensors are to estimate the muscular torque accurately in cases of relaxed and activated muscle conditions. View Full-Text
Keywords: exoskeletal robot; human-robot interaction; muscular torque; joint torque sensor exoskeletal robot; human-robot interaction; muscular torque; joint torque sensor
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Hwang, B.; Jeon, D. A Method to Accurately Estimate the Muscular Torques of Human Wearing Exoskeletons by Torque Sensors. Sensors 2015, 15, 8337-8357.

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