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Mahdian ZS, Wang H, Refai MIM, Durandau G, Sartori M, MacLean MK. Tapping Into Skeletal Muscle Biomechanics for Design and Control of Lower Limb Exoskeletons: A Narrative Review. J Appl Biomech 2023; 39:318-333. [PMID: 37751903 DOI: 10.1123/jab.2023-0046] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/28/2023] [Revised: 08/11/2023] [Accepted: 08/18/2023] [Indexed: 09/28/2023]
Abstract
Lower limb exoskeletons and exosuits ("exos") are traditionally designed with a strong focus on mechatronics and actuation, whereas the "human side" is often disregarded or minimally modeled. Muscle biomechanics principles and skeletal muscle response to robot-delivered loads should be incorporated in design/control of exos. In this narrative review, we summarize the advances in literature with respect to the fusion of muscle biomechanics and lower limb exoskeletons. We report methods to measure muscle biomechanics directly and indirectly and summarize the studies that have incorporated muscle measures for improved design and control of intuitive lower limb exos. Finally, we delve into articles that have studied how the human-exo interaction influences muscle biomechanics during locomotion. To support neurorehabilitation and facilitate everyday use of wearable assistive technologies, we believe that future studies should investigate and predict how exoskeleton assistance strategies would structurally remodel skeletal muscle over time. Real-time mapping of the neuromechanical origin and generation of muscle force resulting in joint torques should be combined with musculoskeletal models to address time-varying parameters such as adaptation to exos and fatigue. Development of smarter predictive controllers that steer rather than assist biological components could result in a synchronized human-machine system that optimizes the biological and electromechanical performance of the combined system.
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Affiliation(s)
- Zahra S Mahdian
- Department of Biomechanical Engineering, University of Twente, Enschede, the Netherlands
| | - Huawei Wang
- Department of Biomechanical Engineering, University of Twente, Enschede, the Netherlands
| | | | - Guillaume Durandau
- Department of Mechanical Engineering, McGill University, Montreal, QC, Canada
| | - Massimo Sartori
- Department of Biomechanical Engineering, University of Twente, Enschede, the Netherlands
| | - Mhairi K MacLean
- Department of Biomechanical Engineering, University of Twente, Enschede, the Netherlands
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Nabipour M, Sawicki GS, Sartori M. Predictive Control of Peak Achilles Tendon Force in a Simulated System of the Human Ankle Joint with a Parallel Artificial Actuator During Hopping. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941182 DOI: 10.1109/icorr58425.2023.10304771] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2023]
Abstract
Latest advances in wearable exoskeletons for the human lower extremity predominantly focus on minimising metabolic cost of walking. However, there currently is no robotic exoskeleton that gains control on the mechanics of biological tissues such as biological muscles or series-elastic tendons. Achieving robotic control of biological tissue mechanics would enable prevention of musculoskeletal injuries or the personalization of rehabilitation treatments following injury with levels of precisions not attained before. In this paper, we introduce a new framework that uses nonlinear model predictive control (NMPC) for the closed-loop control of peak tendon force in a simulated system of the human ankle joint with parallel exoskeletal actuation. We propose a computationally efficient NMPC's inner model consisting of explicit, closed-form equations of muscle-tendon dynamics along with those of the ankle joint with parallel actuation. The proposed formulation is tested and verified on movement data collected during dynamic ankle dorsiflexion/plantarflexion rotations executed on a dynamometer as well as during walking and running on a treadmill. The framework designed using the NMPC controller showed a promising performance in keeping the Achilles tendon force under a predefined threshold. Results indicated that our proposed model was generalizable to different muscles and gaits and suitable for real-time applications due to its low computational time.
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Borzelli D, Pastorelli S, d’Avella A, Gastaldi L. Virtual Stiffness: A Novel Biomechanical Approach to Estimate Limb Stiffness of a Multi-Muscle and Multi-Joint System. SENSORS (BASEL, SWITZERLAND) 2023; 23:673. [PMID: 36679467 PMCID: PMC9861781 DOI: 10.3390/s23020673] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/28/2022] [Revised: 12/30/2022] [Accepted: 01/03/2023] [Indexed: 06/17/2023]
Abstract
In recent years, different groups have developed algorithms to control the stiffness of a robotic device through the electromyographic activity collected from a human operator. However, the approaches proposed so far require an initial calibration, have a complex subject-specific muscle model, or consider the activity of only a few pairs of antagonist muscles. This study described and tested an approach based on a biomechanical model to estimate the limb stiffness of a multi-joint, multi-muscle system from muscle activations. The "virtual stiffness" method approximates the generated stiffness as the stiffness due to the component of the muscle-activation vector that does not generate any endpoint force. Such a component is calculated by projecting the vector of muscle activations, estimated from the electromyographic signals, onto the null space of the linear mapping of muscle activations onto the endpoint force. The proposed method was tested by using an upper-limb model made of two joints and six Hill-type muscles and data collected during an isometric force-generation task performed with the upper limb. The null-space projection of the muscle-activation vector approximated the major axis of the stiffness ellipse or ellipsoid. The model provides a good approximation of the voluntary stiffening performed by participants that could be directly implemented in wearable myoelectric controlled devices that estimate, in real-time, the endpoint forces, or endpoint movement, from the mapping between muscle activation and force, without any additional calibrations.
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Affiliation(s)
- Daniele Borzelli
- Department of Biomedical and Dental Sciences and Morphofunctional Imaging, University of Messina, 98122 Messina, Italy
- Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, 00179 Rome, Italy
| | - Stefano Pastorelli
- Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, Italy
| | - Andrea d’Avella
- Department of Biomedical and Dental Sciences and Morphofunctional Imaging, University of Messina, 98122 Messina, Italy
- Laboratory of Neuromotor Physiology, IRCCS Santa Lucia Foundation, 00179 Rome, Italy
| | - Laura Gastaldi
- Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, Italy
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Durandau G, Rampeltshammer WF, Kooij HVD, Sartori M. Neuromechanical Model-Based Adaptive Control of Bilateral Ankle Exoskeletons: Biological Joint Torque and Electromyogram Reduction Across Walking Conditions. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2022.3170239] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Guillaume Durandau
- Department of Biomechanical Engineering, Technical Medical Centre, University of Twente, Enschede, NB, The Netherlands
| | - Wolfgang F. Rampeltshammer
- Department of Biomechanical Engineering, Technical Medical Centre, University of Twente, Enschede, NB, The Netherlands
| | - Herman van der Kooij
- Department of Biomechanical Engineering, Technical Medical Centre, University of Twente, Enschede, NB, The Netherlands
| | - Massimo Sartori
- Department of Biomechanical Engineering, Technical Medical Centre, University of Twente, Enschede, NB, The Netherlands
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Meinders E, Pizzolato C, Goncalves BAM, Lloyd DG, Saxby DJ, Diamond LE. The deep hip muscles are unlikely to contribute to hip stability in the sagittal plane during walking: a stiffness approach. IEEE Trans Biomed Eng 2021; 69:1133-1140. [PMID: 34559628 DOI: 10.1109/tbme.2021.3114717] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
- Objective: This study determined whether the deep hip muscles could contribute to hip stability. METHODS Hip stability was defined as rotational hip stiffness in the sagittal plane, which was calculated for walking trials for 12 participants via electromyography (EMG)informed neuromusculoskeletal modelling that included all 22 hip spanning muscles. Three model configurations were compared that differed in the excitations of the deep hip muscles, but were identical in the excitations of all other muscles: (1) deep hip muscles informed by intramuscular EMG measurements (assisted activation); (2) deep hip muscles with simulated zero activation (no activation); (3) deep hip muscles with simulated maximal activation (maximal activation). Sagittal plane rotational hip stiffness over the gait cycle was compared between model configurations using a within-participant analysis of variance via statistical parametric mapping (p<0.05). RESULTS Compared to the assisted activation configuration, hip stiffness (mean (95% confidence interval)) was 0.8% (0.7 to 0.9) lower in the no activation configuration, and 3.2% (2.9 to 3.5) higher in the maximal activation configuration over the gait cycle. CONCLUSION Regardless of activation level, the deep hip muscles made little contribution to sagittal plane rotational hip stiffness, which casts uncertainty around their assumed function as hip stabilizers. SIGNIFICANCE The merit of targeted deep hip muscle strengthening to improve hip stability in rehabilitation programs for remains unclear.
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Ranavolo A, Ajoudani A, Cherubini A, Bianchi M, Fritzsche L, Iavicoli S, Sartori M, Silvetti A, Vanderborght B, Varrecchia T, Draicchio F. The Sensor-Based Biomechanical Risk Assessment at the Base of the Need for Revising of Standards for Human Ergonomics. SENSORS (BASEL, SWITZERLAND) 2020; 20:E5750. [PMID: 33050438 PMCID: PMC7599507 DOI: 10.3390/s20205750] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Subscribe] [Scholar Register] [Received: 09/02/2020] [Revised: 09/24/2020] [Accepted: 10/03/2020] [Indexed: 02/06/2023]
Abstract
Due to the epochal changes introduced by "Industry 4.0", it is getting harder to apply the varying approaches for biomechanical risk assessment of manual handling tasks used to prevent work-related musculoskeletal disorders (WMDs) considered within the International Standards for ergonomics. In fact, the innovative human-robot collaboration (HRC) systems are widening the number of work motor tasks that cannot be assessed. On the other hand, new sensor-based tools for biomechanical risk assessment could be used for both quantitative "direct instrumental evaluations" and "rating of standard methods", allowing certain improvements over traditional methods. In this light, this Letter aims at detecting the need for revising the standards for human ergonomics and biomechanical risk assessment by analyzing the WMDs prevalence and incidence; additionally, the strengths and weaknesses of traditional methods listed within the International Standards for manual handling activities and the next challenges needed for their revision are considered. As a representative example, the discussion is referred to the lifting of heavy loads where the revision should include the use of sensor-based tools for biomechanical risk assessment during lifting performed with the use of exoskeletons, by more than one person (team lifting) and when the traditional methods cannot be applied. The wearability of sensing and feedback sensors in addition to human augmentation technologies allows for increasing workers' awareness about possible risks and enhance the effectiveness and safety during the execution of in many manual handling activities.
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Affiliation(s)
- Alberto Ranavolo
- Department of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Monte Porzio Catone, 00040 Rome, Italy; (S.I.); (A.S.); (T.V.); (F.D.)
| | - Arash Ajoudani
- HRI2 Laboratory, Istituto Italiano di Tecnologia, 16163 Genova, Italy;
| | | | - Matteo Bianchi
- Centro di Ricerca “Enrico Piaggio” and Department of Information Engineering, Università di Pisa, 56126 Pisa, Italy;
| | - Lars Fritzsche
- Ergonomics Division, IMK Automotive GmbH, 09128 Chemnitz, Germany;
| | - Sergio Iavicoli
- Department of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Monte Porzio Catone, 00040 Rome, Italy; (S.I.); (A.S.); (T.V.); (F.D.)
| | - Massimo Sartori
- Department of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands;
| | - Alessio Silvetti
- Department of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Monte Porzio Catone, 00040 Rome, Italy; (S.I.); (A.S.); (T.V.); (F.D.)
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium;
- Flanders Make, Oude Diestersebaan 133, 3920 Lommel, Belgium
| | - Tiwana Varrecchia
- Department of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Monte Porzio Catone, 00040 Rome, Italy; (S.I.); (A.S.); (T.V.); (F.D.)
| | - Francesco Draicchio
- Department of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Monte Porzio Catone, 00040 Rome, Italy; (S.I.); (A.S.); (T.V.); (F.D.)
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Esteban AM, van 't Veld RC, Cop CP, Durandau G, Sartori M, Schouten AC. Estimation of Time-Varying Ankle Joint Stiffness Under Dynamic Conditions via System Identification Techniques. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2020; 2019:2119-2122. [PMID: 31946319 DOI: 10.1109/embc.2019.8856423] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
An important goal in the design of next-generation exoskeletons and limb prostheses is to replicate human limb dynamics. Joint impedance determines the dynamic relation between joint displacement and torque. Joint stiffness is the position-dependent component of joint impedance and is key in postural control and movement. However, the mechanisms to modulate joint stiffness are not fully understood yet. The goal of this study is to conduct a systematic analysis on how humans modulate ankle stiffness. Time-varying stiffness was estimated for six healthy subjects under isometric, as well as quick and slow dynamic conditions via system identification techniques; specifically, an ensemble-based algorithm using short segments of ankle torque and position recordings. Our results show that stiffness had the lowest magnitude under quick dynamic conditions. Under isometric conditions, with fixed position and varying muscle activity, stiffness exhibited a higher magnitude. Finally, under slow dynamic conditions, stiffness was found to be the highest. Our results highlight, for the first time, the variability in stiffness modulation strategies across conditions, especially across movement velocity.
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