Comparison of strength profile representations using musculoskeletal models and their applications in robotics

摘要

Musculoskeletal models provide an approach towards simulating the ability of the human body in a variety of human-robot applications. A promising use for musculoskeletal models is to model the physical capabilities of the human body, for example, estimating the strength at the hand. Several methods of modelling and representing human strength with musculoskeletal models have been used in ergonomic analysis, human-robot interaction and robotic assistance. However, it is currently unclear which methods best suit modelling and representing limb strength. This paper compares existing methods for calculating and representing the strength of the upper limb using musculoskeletal models. It then details the differences and relative advantages of the existing methods, enabling the discussion on the appropriateness of each method for particular applications.