Estimation of Finger Muscular Forces with a Wearable Hand Exoskeleton System

Abstract

In this paper, through the application of inverse dynamics-based static optimization, finger muscular forces were estimated based on motion information measured by a hand exoskeleton system. The exoskeleton system provided pulling force at the fingertips and measured joint kinematics and the applied force. In the experiment, muscular forces were estimated during the fingers were extended by the exoskeleton. The estimated muscular forces were analyzed with respect to the finger movement in the experiment.