Soft Sensing Brace for Monitoring Knee Joint Kinetics and Kinematics During Squatting

摘要

Exoskeletons have been developed to increase joint performance by providing assistance torque. Soft exosuits, which use light and soft materials for human-robot interaction, are a growing trend in the orthosis. However, wearable motion capture technology for biomechanical data collection remains a challenge. Traditional measurement systems such as motion capture camera (Mocap), inertial measurement units (IMUs), and ground reaction force and moment (GRF&M) are computationally intensive and collected in restricted laboratory environments. To address this challenge, we propose a sensing brace to monitor knee joint kinetics using an elastic strain sensor and a pressure-based mechanomyography (pMMG) sensor. The pMMG sensor improves comfort, reliability, linearity, and durability, and does not need to attach directly to the skin. Linear regression model of knee angle and moment are conducted with high reliability which showed <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$p-value &lt; 0.05$</tex> and <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$R^{2}$</tex> is over 0.98. We used a linear regression model to estimate knee angle and torque during squatting with <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\text{RMSE} =4.4\ deg$</tex> in knee angle estimation and <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\text{RMSE}=3.4\ Nmm/kg$</tex> in knee moment estimation.