METHOD OF CALCULATING STANDARD VALUE OF NORMALIZATION OF ELECTROMUSCULAR SIGNAL, METHOD OF CALCULATING STANDARD VALUE OF INTRINSIC FORCE, METHOD OF CALCULATING CONTRACTION DEGREE, METHOD OF CALCULATING INTRINSIC FORCE, AND DEVICE FOR THE CALCULATIONS

摘要

PROBLEM TO BE SOLVED: To provide an intrinsic force visualization device for visualzing the intrinsic force indicating the way and direction of applying force on a motorial part, and a method for calculating the standard value for normalization, standard value of the intrinsic force, the contraction degree and the intrinsic force necessary for the device. SOLUTION: The intrinsic force visualization device comprises an electromuscular signal detecting means, a converting means for converting the electromuscular signal to pseudo tension force, a force detecting means, an intrinsic force calculating means and a display means. The intrinsic force calculating means finds an expression of the torque-pseudo tension force relation and an expression of torque-intrinsic force standard value relation based on the output of the converting means and the force detecting means, and the intrinsic force standard value is obtained from the pseudo tension force based on the expression of the torque-pseudo tension force relation and the expression of the torque-intrinsic force standard value relation. The difference between the pseudo tension force and the obtained intrinsic force standard value is calculated to find the contraction degree in the torque of a joint. Then the sum of the contraction degrees of extensors and the sum of the contraction degrees of flexors are calculated, and by calculating the difference between the sums, the intrinsic force is obtained to be displayed on the display means.