1C1-1 Development of muscle force estimation system using motion analysis

Cable tension force is one of the most important structural parameters to monitor in cable-stayed bridges. For example, cable tension needs to be monitored during construction and maintenance to ensure the bridge is not overloaded. To economically monitor tension forces, this study proposes the use of an automated wireless tension force estimation system (WFTES) developed solely for cable force estimation. The design of the WFTES system can be divided into two parts: low-cost hardware and automated software. The low-cost hardware consists of an integrated platform containing a wireless sensing unit constructed from commercial off-the-shelf components, a low-cost commercial MEMS accelerometer, and a signal conditioning board for signal amplification and filtering. With respect to the automated software, a vibration-based algorithm using estimated modal parameters and information on the cable sag and bending stiffness is embedded into the wireless sensing unit. Since modal parameters are inputs to the algorithm, additional algorithms are necessary to extract modal features from measured cable accelerations. To validate the proposed WFTES, a scaled-down cable model was constructed in the laboratory using steel rope wire. The wire was exposed to broad-band excitations while the WFTES recorded the cable response and embedded algorithms interrogated the measured acceleration to estimate tension force. The results reveal the embedded algorithms properly identify the lower natural frequencies of the cable and make accurate estimates of cable tension. This paper concludes with a summary of the salient research findings and suggestions for future work.

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Cost function tuning improves muscle force estimation computed by static optimization during walking

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society ◽

10.1109/iembs.2011.6092037 ◽

2011 ◽

Cited By ~ 3

Author(s):

V. Monaco ◽

M. Coscia ◽

S. Micera

Keyword(s):

Cost Function ◽

Muscle Force ◽

Force Estimation ◽

Static Optimization

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Towards optimal multi-channel EMG electrode configurations in muscle force estimation: a high density EMG study

Journal of Electromyography and Kinesiology ◽

10.1016/j.jelekin.2004.06.008 ◽

2005 ◽

Vol 15 (1) ◽

pp. 1-11 ◽

Cited By ~ 73

Author(s):

Didier Staudenmann ◽

Idsart Kingma ◽

Dick F. Stegeman ◽

Jaap H. van Dieën

Keyword(s):

Muscle Force ◽

High Density ◽

Force Estimation

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A Comparison between Two Models of Shoulder Muscle Force Estimation

Journal of Applied Biomechanics ◽

10.1123/jab.25.1.43 ◽

2009 ◽

Vol 25 (1) ◽

pp. 43-53 ◽

Cited By ~ 3

Author(s):

Daniel Cury Ribeiro ◽

Joelly Mahnic de Toledo ◽

Roberto Costa Krug ◽

Jefferson Fagundes Loss

Keyword(s):

Latissimus Dorsi ◽

Reasonable Agreement ◽

Muscle Force ◽

Poor Correlation ◽

Shoulder Injuries ◽

Force Estimation ◽

Concentric Contractions ◽

Shoulder Muscle ◽

Teres Major ◽

The Difference

Shoulder injuries are often related to rotator cuff muscles. Although there are various models for muscle force estimation, it is difficult to ensure that the results obtained with such models are reliable. The aim of the current study was to compare two models of muscle force estimation. Eight subjects, seven male and one female (mean age of 24 yr; mean height of 1.83 m), performed five isokinetic maximum concentric contractions of internal and external shoulder rotation. Two models with different algorithms were used. In both, the input data consisted of the measured internal rotation moment. Comparisons were made between the difference and the average results obtained with each model of muscle force estimation. There was reasonable agreement among the results for force between the two models for subscapularis, pectoralis major, and anterior deltoideus muscles results. Conversely, poor correlation was found for the latissimus dorsi, teres major, and middle deltoid. These results suggest that the algorithm structure might have a strong effect on muscle force estimation results.

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Hybrid Position and Force Control Without Force Sensor

Journal of Robotics and Mechatronics ◽

10.20965/jrm.1996.p0226 ◽

1996 ◽

Vol 8 (3) ◽

pp. 226-234

Author(s):

Kiyoshi Ohishi ◽

◽

Masaru Miyazaki ◽

Masahiro Fujita ◽

Keyword(s):

Degrees Of Freedom ◽

Inverse Dynamics ◽

Hybrid Control ◽

Robot Manipulator ◽

Reaction Force ◽

Force Sensor ◽

Force Estimation ◽

Estimation System ◽

Dynamics Calculation ◽

Torque Observer

Generally, hybrid control is realized by sensor signal feedback of position and force. However, some robot manipulators do not have a force sensor due to the environment. Moreover, a precise force sensor is very expensive. In order to overcome these problems, we propose the estimation system of reaction force without using a force sensor. This system consists of the torque observer and the inverse dynamics calculation. Using both this force estimation system and <I>H</I>∞ acceleration controller which is based on <I>H</I>∞ control theory, it takes into account the frequency characteristics of both sensor noise effect and disturbance rejection. The experimental results in this paper illustrate the fine hybrid control of the three tested degrees-of-freedom DD robot manipulator without force sensor.

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Force-Line Driving Model for Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.110-116.3400 ◽

2011 ◽

Vol 110-116 ◽

pp. 3400-3404

Author(s):

Gang Tang ◽

Wei Jian Mi ◽

Dao Fang Chang ◽

Cheng Tao Wang

Keyword(s):

Humanoid Robot ◽

Muscle Force ◽

Human Walking ◽

Force Estimation ◽

Complex Motion ◽

Force Line ◽

Line Model ◽

Driving Model ◽

New Type ◽

Novel Method

To introduce a novel method of driving robot move. This method is to use the force-line model to drive the limbs of the robot inspired from the skeleton movement driven by muscle. A humanoid robot with the force-line model has been constructed. New software for muscle force estimation has been developed. The solution of the parameters which are the input of the software has been statement. Finally, the input parameters have been obtained by experiment and calculation. The humanoid robot can be driven to imitate human walking by the force which along the force-line. It will provide wide insight in developing new type robot for complex motion and applying the technology of force-line driving model in other filed.

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