Development of a wearable ultrasound transducer for sensing muscle activities in assistive robotics applications: In vivo study

People who suffer from the amputation of limbs or with mobility impairment due to methodological disorder sometimes require assistive robotics (AR), such as robotic prostheses and exoskeletons, to function satisfactorily and productively in daily life. Dynamic measurements of muscle voluntary activities are widely used to control AR, and sensors used to control AR should be non-invasive, effective, and wearable. Ultrasound (US) imaging is an effective method for measuring muscle activity. Nevertheless, conventional US transducers are cumbersome and inflexible, making them inconvenient for continuous monitoring of muscle activity for AR control. In light of no report available about using a flexible transducer for detecting muscle activities for AR, this work aims to develop a novel wearable US device for detecting muscle activities. In specific, a 16-element 10 MHz flexible sparse array was designed, fabricated, and characterized. The feasibility of monitoring muscle activity in different regions was demonstrated by an in vivo human experiment.