Estimation of upper limb muscle stiffness based on artificial neural network

The human upper limb is a flexible locomotive organ, which can achieve multi-degree of freedom of movement. It can make the corresponding change in stiffness according to the stiffness changes of the contact object. The study of the stiffness properties of human muscles is of great significance to the medical and service industries as well as to the manufacturing industry. The artificial neural network model established in this paper makes the EMG signal of human muscle and the angle of upper limb joint as the input, and the body joint stiffness is output. The model provides a theoretical basis for the teleoperation control of the flexible manipulators.