Quantitative performance analysis of muscle suit — Estimation by Oxyhemoglobin and deoxyhemoglobin

Exoskeleton systems have been largely developed though, quantitative performance estimation has not been reported so far. We have been developing the wearable muscle suit for direct and physical motion supports. The use of the McKibben artificial muscle has opened the way to the introduction of “muscle suits” - compact, lightweight, reliable, wearable “assist-bots” enabling manual worker to lift and carry weights. By applying integral electromyography (IEMG), we show quantitative performance results and efficiency of the muscle suit in terms of keeping posture and lifting. However index for quantitative estimation is only IEMG. In this paper, we then introduce Oxyhemoglobin and deoxyhemoglobin which express the form whether hemoglobin has oxygen or not. Since muscle uses the oxygen a lot, by observing the change in the amount of Oxyhemoglobin and deoxyhemoglobin, we assume it is possible to recognize the condition of muscle use. As a result, we find that the differences of value between Oxy and Doxy after using muscle may be likened to declare fatigue of muscle.