An EMG-driven model applied for predicting metabolic energy consumption during movement

A fair and EMG-validated comparison of recruitment criteria, musculotendon models and muscle coordination strategies, for the inverse-dynamics based optimization of muscle forces during gait

Experimental studies and EMG collections suggest that a specific strategy of muscle coordination is chosen by the central nervous system to perform a given motor task. A popular mathematical approach for solving the muscle recruitment problem is optimization. Optimization-based methods minimize or maximize some criterion (objective function or cost function) which reflects the mechanism used by the central nervous system to recruit muscles for the movement considered. The proper cost function is not known a priori, so the adequacy of the chosen function must be validated according to the obtained results. In addition of the many criteria proposed, several physiological representations of the musculotendon actuator dynamics (that prescribe constraints for the forces) along with different musculoskeletal models can be found in the literature, which hinders the selection of the best neuromusculotendon model for each application. Seeking to provide a fair base for comparison, this study measures the efficiency and accuracy of: (i) four different criteria within the static optimization approach (where the physiological character of the muscle, which affects the constraints of the forces, is not considered); (ii) three physiological representations of the musculotendon actuator dynamics: activation dynamics with elastic tendon, simplified activation dynamics with rigid tendon and rigid tendon without activation dynamics; (iii) a synergy-based method; all of them within the framework of inverse-dynamics based optimization. Motion/force/EMG gait analyses were performed on ten healthy subjects. A musculoskeletal model of the right leg actuated by 43 Hill-type muscles was scaled to each subject and used to calculate joint moments, musculotendon kinematics and moment arms. Muscle activations were then estimated using the different approaches, and these estimates were compared with EMG measurements. Although no significant differences were obtained with all the methods at statistical level, it must be pointed out that a higher complexity of the method does not guarantee better results, as the best correlations with experimental values were obtained with two simplified approaches: the static optimization and the physiological approach with simplified activation dynamics and rigid tendon, both using the sum of the squares of muscle forces as objective function.

The Effects of Prosthesis Inversion/Eversion Stiffness on Balance-Related Variability During Level Walking: A Pilot Study

Prosthesis features that enhance balance are desirable to people with transtibial amputation. Ankle inversion/eversion compliance is intended to improve balance on uneven ground, but its effects remain unclear on level ground. We posited that increasing ankle inversion/eversion stiffness during level-ground walking would reduce balance-related effort by assisting in recovery from small disturbances in frontal-plane motions. We performed a pilot test with an ankle-foot prosthesis emulator programmed to apply inversion/eversion torques in proportion to the deviation from a nominal inversion/eversion position trajectory. We applied a range of stiffnesses to clearly understand the effect of the stiffness on balance-related effort, hypothesizing that positive stiffness would reduce effort while negative stiffness would increase effort. Nominal joint angle trajectories were calculated online as a moving average over several steps. In experiments with K3 ambulators with unilateral transtibial amputation (N = 5), stiffness affected step-width variability, average step width, margin of stability, intact-foot center of pressure variability, and user satisfaction (p ≤ 0.05, Friedman's test), but not intact-limb evertor average, intact-limb evertor variability, and metabolic rate (p ≥ 0.38, Friedman's test). Compared to zero stiffness, high positive stiffness reduced step-width variability by 13%, step width by 3%, margin of stability by 3%, and intact-foot center of pressure variability by 14%, whereas high negative stiffness had opposite effects and decreased satisfaction by 63%. The results of this pilot study suggest that positive ankle inversion stiffness can reduce active control requirements during level walking.

Robot-assisted assessment of muscle strength

Impairment of neuromuscular function in neurological disorders leads to reductions in muscle force, which may lower quality of life. Rehabilitation robots that are equipped with sensors are able to quantify the extent of muscle force impairment and to monitor a patient during the process of neurorehabilitation with sensitive and objective assessment methods. In this article, we provide an overview of fundamental aspects of muscle function and how the corresponding variables can be quantified by means of meaningful robotic assessments that are primarily oriented towards upper limb neurorehabilitation. We discuss new concepts for the assessment of muscle function, and present an overview of the currently available systems for upper limb measurements. These considerations culminate in practical recommendations and caveats for the rational quantification of force magnitude, force direction, moment of a force, impulse, critical force (neuromuscular fatigue threshold) and state and trait levels of fatigue.

Neural Data-Driven Musculoskeletal Modeling for Personalized Neurorehabilitation Technologies

OBJECTIVES

The development of neurorehabilitation technologies requires the profound understanding of the mechanisms underlying an individual's motor ability and impairment. A major factor limiting this understanding is the difficulty of bridging between events taking place at the neurophysiologic level (i.e., motor neuron firings) with those emerging at the musculoskeletal level (i.e. joint actuation), in vivo in the intact moving human. This review presents emerging model-based methodologies for filling this gap that are promising for developing clinically viable technologies.

METHODS

We provide a design overview of musculoskeletal modeling formulations driven by recordings of neuromuscular activity with a critical comparison to alternative model-free approaches in the context of neurorehabilitation technologies. We present advanced electromyography-based techniques for interfacing with the human nervous system and model-based techniques for translating the extracted neural information into estimates of motor function.

RESULTS

We introduce representative application areas where modeling is relevant for accessing neuromuscular variables that could not be measured experimentally. We then show how these variables are used for designing personalized rehabilitation interventions, biologically inspired limbs, and human-machine interfaces.

CONCLUSION

The ability of using electrophysiological recordings to inform biomechanical models enables accessing a broader range of neuromechanical variables than analyzing electrophysiological data or movement data individually. This enables understanding the neuromechanical interplay underlying in vivo movement function, pathology, and robot-assisted motor recovery.

SIGNIFICANCE

Filling the gap between our understandings of movement neural and mechanical functions is central for addressing one of the major challenges in neurorehabilitation: personalizing current technologies and interventions to an individual's anatomy and impairment.

A musculoskeletal model of human locomotion driven by a low dimensional set of impulsive excitation primitives

Human locomotion has been described as being generated by an impulsive (burst-like) excitation of groups of musculotendon units, with timing dependent on the biomechanical goal of the task. Despite this view being supported by many experimental observations on specific locomotion tasks, it is still unknown if the same impulsive controller (i.e., a low-dimensional set of time-delayed excitastion primitives) can be used as input drive for large musculoskeletal models across different human locomotion tasks. For this purpose, we extracted, with non-negative matrix factorization, five non-negative factors from a large sample of muscle electromyograms in two healthy subjects during four motor tasks. These included walking, running, sidestepping, and crossover cutting maneuvers. The extracted non-negative factors were then averaged and parameterized to obtain task-generic Gaussian-shaped impulsive excitation curves or primitives. These were used to drive a subject-specific musculoskeletal model of the human lower extremity. Results showed that the same set of five impulsive excitation primitives could be used to predict the dynamics of 34 musculotendon units and the resulting hip, knee and ankle joint moments (i.e., NRMSE = 0.18 ± 0.08, and R² = 0.73 ± 0.22 across all tasks and subjects) without substantial loss of accuracy with respect to using experimental electromyograms (i.e., NRMSE = 0.16 ± 0.07, and R² = 0.78 ± 0.18 across all tasks and subjects). Results support the hypothesis that biomechanically different motor tasks might share similar neuromuscular control strategies. This might have implications in neurorehabilitation technologies such as human-machine interfaces for the torque-driven, proportional control of powered prostheses and orthoses. In this, device control commands (i.e., predicted joint torque) could be derived without direct experimental data but relying on simple parameterized Gaussian-shaped curves, thus decreasing the input drive complexity and the number of needed sensors.

Biomechanical and metabolic responses to seat-tube angle variation during cycling in tri-athletes

One of the most physically demanding parts of triathlon is the transition from cycling to running. Many tri-athletes believe that increasing seat-tube angle (STA) can bring advantages in the following running part. The aim of this study was to evaluate the effects of inverting the support of the seat, for increasing STA, on the metabolic response and on the muscle activation pattern, maintaining a controlled kinematic. Moreover, a muscle-skeletal model was applied to evaluate the hypothesis that increasing STA changes force-producing capabilities of muscles crossing the hip. Ten tri-athletes cycled at two different power levels and with two different STA's. Gas exchange data, kinematics and surface electromyography (sEMG) were acquired during the tests. sEMG was measured from eight muscles of the right side of the body. A model of muscle mechanics and energy expenditure was applied to estimate variations of force production capabilities and muscle energy consumption between the two STA configurations. Inverting the support of the seat showed no significant effects on kinematic, Oxygen consumption, muscle activations and muscle power production capabilities. Nevertheless, an interesting advantage can be the tendency to less activate gastrocnemius and biceps femoris: this could lead to minor muscle fatigue during the following running phase.