Design of a Novel Perception-Control Robotic System Used for Elbow Muscle Tension Sensing

To address the issues of complex operation and low efficiency of existing muscle tension level evaluation systems based on force measuring instruments, a novel perception-control robotic system used for sensing different levels of elbow muscle tension is developed in this paper. It is based on a newly designed 4 degree-of-freedom (DOF) biomimetic robotic arm. The kinematics and dynamics model are thoroughly analyzed. In order to obtain a better simulation effect, a fuzzy impedance control algorithm is proposed to achieve better position/force following precision. In the end, a prototype has been constructed, and certain experiments are conducted, the results show that this system can simulate different levels of elbow muscle tension accurately and effectively. By using this system, the ability of medical staff to evaluate elbow muscle tension level will be improved significantly, which will have broad application prospects in rehabilitation medicine industry.