Streams of high speed dust particles originate from Jupiter's moon Io. After release from Io, the particles collect electric charges in the Io plasma torus, gain energy from the co-rotating electric field of Jupiter's magnetosphere, and leave the Jovian system into interplanetary space with escape speeds over 200 km s-1. The Galileo spacecraft has continuously monitored the dust streams during 34 revolutions about Jupiter between 1996 and 2002. The observed dust fluxes exhibit large orbit-to-orbit variability due to systematic and stochastic changes. After removal of the systematic variations, the total dust emission rate of Io has been calculated. It varies between 10-3 and 10 kg s-1, and is typically in the range of 0.1 to 1 kg s-1. We compare the dust emission rate with other markers of volcanic activity on Io like large-area surface changes caused by volcanic deposits and sightings of volcanic plumes.