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Ultrasonic Sensor Disk for Detecting Muscular Force


Takayuki Tanaka, Shigeki Hori, Ryusuke Yamaguchi,
University of Electro-Communications
1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, Japan
E-mail: ttanaka[at]mce.uec.ac.jp
Maria Q. Feng
Department of Civil and Environmental Engineering, University of California
and Shunji Moromugi
Faculty of Engineering, Nagasaki University
1-14 Bunkyo-machi, Nagasaki, 852-8521, Japan

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Abstract


Recently, many researchers are studying and developing various kinds of man-machine systems. Especially8 a wearable robot, such as an exoskeleton power suit, is one of the most remarkable jielak. In this field, more accurate and reliable sensing system for detecting human motion intention is strongly required In most of conventional man-machine systems, torque sensors, tactile pressure sensors and EMG sensors are utilized in a man-machine inteface to detect human motion intention. These sensors, however, have some limitations. For example, it is hard to install and secure torque sensors on the joints of a human body. It is not easy to correlate the datafrom a tactile pressure sensor to the hummi motion intention. AIthough the EMG sensor can detect human motion intention, the sensor system is complex and expensive, and sufferssfrom electric noise. We have been developing an innovative sensor suit which, just like a wet suit, can be convenientlyput on by an operator to detect his or her motion intention by noninvasively monitoring his or her muscle conditions such as the shape, the sti@ess and the density. This sensor suit is made of sop and elastic fabrics embedded with arrays of MEMS sensors such as strain gauges, ultrasonic sensors and optical fiber sensors, to measure dyerent kinds of human muscle conditions. In the previous paper, the muscle stifiess sensor for detecting musclar force was developed according io the fact that the muscle gains its strfiess as it is activated. Its sperior peqbmance was reported through experiments in which the sensor was applied for the assisting device for the disable.