Towards using musculoskeletal models for intelligent control of physically assistive robots

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dc.contributor.author Carmichael, MG
dc.contributor.author Liu, D
dc.date.accessioned 2012-10-12T03:36:34Z
dc.date.issued 2011
dc.identifier.citation Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2011, pp. 8162 - 8165
dc.identifier.isbn 9781424441211
dc.identifier.issn 1557-170X
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/19316
dc.description.abstract With the increasing number of robots being developed to physically assist humans in tasks such as rehabilitation and assistive living, more intelligent and personalized control systems are desired. In this paper we propose the use of a musculoskeletal model to estimate the strength of the user, from which information can be utilized to improve control schemes in which robots physically assist humans. An optimization model is developed utilizing a musculoskeletal model to estimate human strength in a specified dynamic state. Results of this optimization as well as methods of using it to observe muscle-based weaknesses in task space are presented. Lastly potential methods and problems in incorporating this model into a robot control system are discussed. © 2011 IEEE.
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon 10.1109/IEMBS.2011.6092013
dc.title Towards using musculoskeletal models for intelligent control of physically assistive robots
dc.type Conference Proceeding
dc.parent Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
dc.journal.number en_US
dc.publocation Stoughton, WI en_US
dc.identifier.startpage 8162 en_US
dc.identifier.endpage 8165 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 110601 Biomechanics
dc.for 110321 Rehabilitation and Therapy (Excl. Physiotherapy)
dc.for 090305 Rehabilitation Engineering
dc.personcode 000350
dc.personcode 102842
dc.percentage 80 en_US
dc.classification.name Rehabilitation Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom International Conference of the IEEE Engineering in Medicine and Biology Society en_US
dc.date.activity 20110830 en_US
dc.location.activity Boston, MA en_US
pubs.embargo.period Not known
pubs.organisational-group /University of Technology Sydney
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems
utslib.copyright.status Open Access
utslib.copyright.date 2015-04-15 12:23:47.074767+10
pubs.consider-herdc true


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