Lower limb examinations for muscular tension estimation methods for each muscle group based on functionally different effective muscle theory.

Conventional estimation methods distribute tension to muscles by solving optimization problems, because the system is redundant. The theory of functionally different effective muscle, based on 3 antagonistic pairs of muscle groups in limbs, has enabled to calculate the maximum joint torque of each pair, i.e. functionally different effective muscle force. Based on this theory, a method to estimate muscular tension has been proposed, where joint torque of each muscle group is derived by multiplying functionally different effective muscle force, the muscular activity of muscular activity pattern for direction of tip force, and ratio of tip force to maximum output force. The estimation of this method is as good as Crowninshield's method, moreover this method also reduce the computation time if the estimation concerns a selected muscle group.