• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1014-1020
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• 2011

This presents a motion and force estimation system of human fingers by using an Electromyography (EMG) sensor module and a data glove system to be proposed in this paper. Both EMG sensor module and data glove system are developed in such a way to minimize the number of hardware filters in acquiring the signals as well as to reduce their sizes for the wearable. Since the onset of EMG precedes the onset of actual finger movement by dozens to hundreds milliseconds, we show that it is possible to predict the pattern of finger movement before actual movement by using the suggested system. Also, we are to suggest how to estimate the grasping force of hand based on the relationship between RMS taken EMG signal and the applied load. Finally we show the effectiveness of the suggested estimation system through several experiments.

• 로봇학회논문지
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• 제3권1호
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• pp.9-15
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• 2008

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human''s superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG) signals and limb position measurements. The EMG signal is the summation of MUAPs (motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN) model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.

• Journal of Oral Medicine and Pain
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• 제13권1호
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• pp.43-52
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• 1988

The author studied masticatory muscle activity and bite force in normal persons without Temporomandibular Disorders(TMD) signs and symptoms, The number of subjects was 15, and the age of them was from 22 to 25 years. Electromyography was used to record the muscle activity in tapping and clenching movement with or without occlusal splint. 3 splints were made from 3 different mandibular position, that if, centric occlusion position, Rocabado's mandibular rest position, Dawson's centric relation position. The thickness of splint was 3.0-3.5㎜ at molar region. The muscle examined were Masseter and Anterior Temporalis attached with surface electrodes and the device used to measure the EMG level was Bioelectric processor Model EM2. After recording the EMG, the author measured the bite force level in clenching movement with bite force meter Model MPM-3000 in the dame position used in the EMG experiment. The obtained results were as follow : 1. With occlusal splints insetion, the amount of decreased muscle activity in Anterior Temporalis was more than those in Masseter. 2. In the three maxillomandibular relationships with occlusal splints, Masseter showed slightly increased level of muscle in centric occlusion but Ant. Temporalis showed decreased level of muscle activity reversely in that position. 3. Muscle activities between Rocabado's rest position and Dawson's centric relation position were generally similar whatever the muscles or the movements the author examined. 4. Bite force in clenching movement increased with splints insertion, especially with the splint registered in centric occlusion position.

• 한국전문물리치료학회지
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• 제8권2호
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• pp.41-54
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• 2001

Fatigue is the decline in force produced as a result of prolonged muscle activity. Localized muscle fatigue can be identified by a shift toward low in the frequency components of the EMG signal, typically represented by a fall in the median frequency. Previous studies show that a shortened muscle develops a higher fatigue than elongated muscles. The purpose of this study was to investigate the time-related change of median frequency and torque during maximal isometric back extension exercises at different exercise angles ($0^{\circ}$, $12^{\circ}$, $36^{\circ}$, $72^{\circ}$). Twenty healthy subjects (mean age = $24.35{\pm}2.70$) were evaluated in this study. Median frequency was extracted from the EMG signals by fast Fourier transform (FFT). Initial median frequency and the slope of median frequency change over time were computed from linear regression analysis. Pearson's product moment correlation was used to quantify the relationship between slope of median frequency and torque. The results were as follows: 1) Significant differences in y-intercepts of torque regression equation with respect to exercise angle were shown. However, there were no differences in the slopes of the median frequency and torque, and y intercept of the median frequency among exercise angles. 2) There was no significant correlation between slope of median frequency and torque. 3) But there was moderate correlation between median frequency and torque at each exercise angle. In conclusion, the exercise angle during maximal isometric back extension exercise is not a direct effect on slope of median frequency and torque. But results showed that median frequency and torque shift were highly correlated in all subjects.