Visual Control Based Musculotendon Force Estimation in the Human Upper-Limb

摘要

This paper deals with an upper-limb muscle forces estimation method using Kinect camera. This latter provides 3-D information of the upper limb trajectory, which serves as an input of the kinetic model of the upper-limb. Estimation methods are used to determine the muscle force from the torque output of the inverse dynamics. An EMG-based forward dynamics model is used for validation purposes. Experimental results on a human being validate the proposed visual tracking upper-limb muscle forces estimation method.