A neuromusculoskeletal model of the human lower limb: Towards EMG-driven actuation of multiple joints in powered orthoses
Authors
Massimo Sartori, Dept. of Inf. Eng., Univ. of Padova, Padova, ItalyMonica Reggiani,
D. G. Lloyd, Musculoskeletal Research Program, Griffith Health Institute, Griffith University, Australia
Enrico Pagello, Dept. of Inf. Eng., Univ. of Padova, Padova, Italy
Published in
2011 IEEE International Conference on Rehabilitation Robotics (ICORR)pages 1 - 6, Zurich, Switzerland, June 29 2011-July 1 2011
doi> 10.1109/ICORR.2011.5975441
Abstract
This paper presents a novel neuromusculoskeletal (NMS) model of the human lower limb that uses the electromyo-graphic (EMG) signals from 16 muscles to estimate forces generated by 34 musculotendon actuators and the resulting joint moments at the hip, knee and ankle joints during varied contractile conditions. Our proposed methodology allows overcoming limitations on force computation shown by currently available NMS models, which constrain the operation of muscles to satisfy joint moments about one single degree of freedom (DOF) only (i.e. knee flexion-extension). The design of advanced human machine interfaces can benefit from the application of our proposed multi-DOF NMS model. The better estimates of the human internal state it provides with respect to single-DOF NMS models, will allow designing more intuitive human-machine interfaces for the simultaneous EMG-driven actuation of multiple joints in lower limb powered orthoses.Bibtex
@inproceedings{ICORR2011,
Author={Sartori, M. and Reggiani, M. and Lloyd, D.G. and Pagello, E.},
Title={A neuromusculoskeletal model of the human lower limb: Towards {EMG}-driven actuation of multiple joints in powered orthoses},
Booktitle={Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on },
Month=jun,
Year={2011},
Pages={1 -6},
Issn={1945-7898},
Doi={10.1109/ICORR.2011.5975441}}
Author={Sartori, M. and Reggiani, M. and Lloyd, D.G. and Pagello, E.},
Title={A neuromusculoskeletal model of the human lower limb: Towards {EMG}-driven actuation of multiple joints in powered orthoses},
Booktitle={Rehabilitation Robotics (ICORR), 2011 IEEE International Conference on },
Month=jun,
Year={2011},
Pages={1 -6},
Issn={1945-7898},
Doi={10.1109/ICORR.2011.5975441}}
