| abstract |
(57) [Summary] [PROBLEMS] To create a model for estimating joint torque from pseudo-tension, and based on this model, a myoelectric signal generation device capable of estimating the trajectory and pseudo-tension by the evaluation function of the minimum pseudo-tension change. provide. SOLUTION: A myoelectric signal is detected from a human arm 1 of a healthy person, The myoelectric signal is amplified by the myoelectric signal amplifier 2, the amplified myoelectric signal is filtered by the filter 3 to extract a pseudo tension, the tension is estimated by the muscle tension estimating circuit 4 from the pseudo tension, and the joint torque is estimated by the joint torque estimating circuit 5. And the equation of motion 6 Generate more motion trajectories. |