Two methods for the measurement of voluntary contraction torque in the biceps brachii muscle

The assistance of BAZAR robot promotes improved upper limb motor coordination in workers performing an actual use-case manual material handling

This study aims at evaluating upper limb muscle coordination and activation in workers performing an actual use-case manual material handling (MMH). The study relies on the comparison of the workers' muscular activity while they perform the task, with and without the help of a dual-arm cobot (BAZAR). Eleven participants performed the task and the flexors and extensors muscles of the shoulder, elbow, wrist, and trunk joints were recorded using bipolar electromyography. The results showed that, when the particular MMH was carried out with BAZAR, both upper limb and trunk muscular co-activation and activation were decreased. Therefore, technologies that enable human-robot collaboration (HRC), which share a workspace with employees, relieve employees of external loads and enhance the effectiveness and calibre of task completion. Additionally, these technologies improve the worker's coordination, lessen the physical effort required to interact with the robot, and have a favourable impact on his or her physiological motor strategy. Practitioner summary: Upper limb and trunk muscle co-activation and activation is reduced when a specific manual material handling was performed with a cobot than without it. By improving coordination, reducing physical effort, and changing motor strategy, cobots could be proposed as an ergonomic intervention to lower workers' biomechanical risk in industry.

Interdisciplinary evaluation of a robot physically collaborating with workers

Collaborative Robots-CoBots-are emerging as a promising technological aid for workers. To date, most CoBots merely share their workspace or collaborate without contact, with their human partners. We claim that robots would be much more beneficial if they physically collaborated with the worker, on high payload tasks. To move high payloads, while remaining safe, the robot should use two or more lightweight arms. In this work, we address the following question: to what extent can robots help workers in physical human-robot collaboration tasks? To find an answer, we have gathered an interdisciplinary group, spanning from an industrial end user to cognitive ergonomists, and including biomechanicians and roboticists. We drew inspiration from an industrial process realized repetitively by workers of the SME HANKAMP (Netherlands). Eleven participants replicated the process, without and with the help of a robot. During the task, we monitored the participants' biomechanical activity. After the task, the participants completed a survey with usability and acceptability measures; seven workers of the SME completed the same survey. The results of our research are the following. First, by applying-for the first time in collaborative robotics-Potvin's method, we show that the robot substantially reduces the participants' muscular effort. Second: we design and present an unprecedented method for measuring the robot reliability and reproducibility in collaborative scenarios. Third: by correlating the worker's effort with the power measured by the robot, we show that the two agents act in energetic synergy. Fourth: the participant's increasing level of experience with robots shifts his/her focus from the robot's overall functionality towards finer expectations. Last but not least: workers and participants are willing to work with the robot and think it is useful.

High-density surface electromyography signals during isometric contractions of elbow muscles of healthy humans

This paper presents a dataset of high-density surface EMG signals (HD-sEMG) designed to study patterns of sEMG spatial distribution over upper limb muscles during voluntary isometric contractions. Twelve healthy subjects performed four different isometric tasks at different effort levels associated with movements of the forearm. Three 2-D electrode arrays were used for recording the myoelectric activity from five upper limb muscles: biceps brachii, triceps brachii, anconeus, brachioradialis, and pronator teres. Technical validation comprised a signals quality assessment from outlier detection algorithms based on supervised and non-supervised classification methods. About 6% of the total number of signals were identified as "bad" channels demonstrating the high quality of the recordings. In addition, spatial and intensity features of HD-sEMG maps for identification of effort type and level, have been formulated in the framework of this database, demonstrating better performance than the traditional time-domain features. The presented database can be used for pattern recognition and MUAP identification among other uses.

Electromyographic evaluation of muscle recovery after isometric fatigue

Despite growing interest in the behavior of electromyographic signals during muscle fatigue, few studies investigate fatigue recovery. In this work, we use surface electromyographic signals to determine the recovery time after isometric fatigue of the biceps brachii muscle in 90° flexion of the non-dominant elbow. Sixty volunteers were arranged into six experimental groups. Experiments were performed in three stages: reference phase (REF), fatigue resistance phase (RES), and recovery phase (REC). An isometric exercise was performed during the RES stage. The time interval between the RES and REC stages was different for each experimental group: 1, 2, 4, 8, 24 and 48 hours. Surface electromyographic signals were acquired during each phase, and the following electromyographic variables were calculated for each phase: median frequency (MDF), root mean squared (RMS) value, and maximum voluntary contraction (MVC). The REF data were compared with the REC data using a paired Wilcoxon test. The results show that the MVC is recovered 2 hours after the exercise. The MDF seems not to be fully recovered after 48 hours, but displays an apparent recovery trend.

Relationships between surface EMG variables and motor unit firing rates

Although surface electromyography (sEMG) is a widely used electrophysiological technique, its physiological interpretation remains somewhat controversial. This study examined the relationship between motor unit firing rates (MUFR) and the root mean square (RMS) amplitude and mean power frequency (MPF) of the sEMG signal in the biceps brachii. Eleven subjects performed maximal isometric elbow flexion while indwelling and sEMG recordings were obtained from the biceps. The RMS amplitude and MPF of the surface signal, and the mean MUFR from the indwelling signal, were calculated over 500 ms epochs. Group means showed a strong MUFR-RMS amplitude relationship (r (2) = 0.91), but a weak MUFR-MPF relationship (r (2) = 0.20). Using all trials, the MUFR-RMS amplitude (r (2) = 0.19) and MUFR-MPF (r (2) = 0.0037) relationships were much weaker. Within individual subjects, the MUFR-RMS amplitude (mean r (2) = 0.13 +/- 0.17) and the MUFR-MPF (mean r (2) = 0.040 +/- 0.041) relationships were also weak. These results suggest that MUFR cannot be predicted from the characteristics of the sEMG signal.

Analysis of surface EMG spike shape across different levels of isometric force

This research evaluated changes in surface electromyographic (SEMG) spike shape across different levels of isometric force. Ninety-six subjects generated three 5-s isometric step contractions of the elbow flexors at 40, 60, 80, and 100% of maximal voluntary contraction (MVC). Force and bipolar SEMG activity were monitored concurrently. The mean spike amplitude (MSA) exhibited a linear increase across the four levels of force. The mean spike frequency (MSF) remained stable from 40 to 80% of MVC; it then decreased from 80 to 100% of MVC. There was a concomitant increase in mean spike slope (MSS) that indicates that the biceps brachii (BB) relied on the recruitment of higher threshold motor units (MUs) from 40 to 80% of MVC. However, there progressive decrease in the mean number of peaks per spike (MNPPS) that suggests that MU synchronization was additionally required to increase force from 80 to 100% of MVC. The spike shape measures, taken together, indicate that the decrease in frequency content of the signal was due to synchronization, not an increased probability of temporal overlap due an increase in rate-coding.

Activation among the elbow flexor muscles differs when maintaining arm position during a fatiguing contraction

Twenty-four men (n = 11) and women (n = 13) supported an inertial load equivalent to 20% of the maximum voluntary contraction force with the elbow flexor muscles for as long as possible while maintaining a constant elbow angle at 90 degrees. Endurance time did not differ on the three occasions that the task was performed (320 +/- 149 s; P > 0.05), and there was no difference between women (360 +/- 168 s) and men (273 +/- 108 s; P = 0.11). The rate of increase in average electromyogram (EMG) for the elbow flexor muscles was similar across sessions (P > 0.05). However, average EMG during the fatiguing task increased for the long head of biceps brachii, brachioradialis, and brachialis (P < 0.05) but not for the short head of biceps brachii. Furthermore, the average EMG for the brachialis was greater at the start and end of the contraction compared with the other elbow flexor muscles. The rate of bursts in EMG activity increased during the fatiguing contraction and was greater in brachialis (1.0 +/- 0.2 bursts/min) compared with the other elbow flexor muscles (0.5 +/- 0.1 bursts/min). The changes in the standard deviation of acceleration, mean arterial pressure, and heart rate during the fatiguing contractions were similar across sessions. These findings indicate that the EMG activity, which reflects the net excitatory and inhibitory input received by the motoneurons in the spinal cord, was not adaptable over repeat sessions for the maintain-position task. Furthermore, these results contrast those from a previous study (Hunter SK and Enoka RM. J Appl Physiol 94: 108-118, 2003) when the goal of the isometric contraction was to maintain a constant force. These results, from a series of studies on the elbow flexor muscles, indicate that the type of load supported during the fatiguing contraction influences the extent to which endurance time can change with repeat performances of the task.

The effects of four time-varying factors on the mean frequency of a myoelectric signal

Daily activities involve dynamic muscle contractions that yield nonstationary myoelectric signals (MESs). The purpose of this work was to determine the individual effects of four time-varying factors (the number and firing rate of active motor units, muscle force and joint angle) on the mean frequency of a MES. Previous theoretical and experimental work revealed that although changes in the number and firing rate of active motor units contribute to the nonstationarities of the signal, they do not significantly affect the mean frequency. In the experimental work, 12 subjects performed 25 static contractions, one for each force (20, 30, 40, 50 and 60% of maximum voluntary contraction) and elbow joint angle (50, 70, 90, 110 and 130 degrees extension) combination. A MES was recorded from the surface of the biceps brachii during each contraction. The results indicated that muscle force only weakly affects the mean frequency. Also shown was that alteration in muscle geometry resulting from changes in elbow joint angle does significantly affect the mean frequency. Knowing this is important for the assessment of muscle fatigue during dynamic contractions.