A Human Joint Torque Estimation Method for Elbow Exoskeleton Control

摘要

Exoskeleton for motion assistance has obtained more and more attention due to its advantages in rehabilitation and assistance for daily life. This research designed an estimation method of human joint torque by the kinetic human-machine interaction between the operator's elbow joint torque and the output of exoskeleton. The human elbow joint torque estimation was obtained by back propagation (BP) neural network with physiological and physical input elements including shoulder posture, elbow joint-related muscles activation, elbow joint position, and angular velocity. An elbow-powered exoskeleton was developed to verify the validity of the human elbow joint torque estimation. The average correlation coefficients of estimated and measured three shoulder joint angles are 97.9%, 96.2%, and 98.1%, which show that estimated joint angles are consistent with the measured joint angle. The average root-mean-square error between estimated elbow joint torque and measured values is about 0.143 N m. The experiment results proved that the proposed strategy had good performance in human joint torque estimation.