A computational framework for muscle-level control of bi-lateral robotic ankle exoskeletons

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

Abstract

Recent effort in exoskeleton control resulted in reduction of human metabolic consumption during ground-level walking. In this context, solutions that would enable biomechanical and metabolic benefits across large repertoires of motor tasks would be central in supporting the human in both medical and industrial scenarios. With this idea in mind we created a muscle-driven controller based on electromyography (EMG)-driven musculoskeletal modeling that we interfaced with the robotic bi-lateral Achilles ankle exoskeleton previously developed in our group. Preliminary results on one healthy individual show the possibility of continuously decoding EMG-dependent muscle force and resulting ankle joint moment patterns in real-time across a range of diverse motor tasks. We demonstrate that this information can be used to establish a human-exoskeleton interface with high-resolution at the level of single muscle mechanics.

LanguageEnglish
Title of host publicationWearable Robotics
Subtitle of host publicationchallenges and trends
EditorsMaria Chiara Carrozza, Silvestro Micera, José L. Pons
PublisherSpringer
Pages325-328
Number of pages4
ISBN (Electronic)978-3-030-01887-0
ISBN (Print)978-3-030-01886-3
DOIs
Publication statusPublished - 1 Jan 2019

Publication series

NameBiosystems and Biorobotics
Volume22
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

Fingerprint

Level control
Muscle
Electromyography
Robotics
Decoding
Mechanics
Controllers
Exoskeleton (Robotics)

Cite this

Durandau, G., van der Kooij, H., & Sartori, M. (2019). A computational framework for muscle-level control of bi-lateral robotic ankle exoskeletons. In M. C. Carrozza, S. Micera, & J. L. Pons (Eds.), Wearable Robotics: challenges and trends (pp. 325-328). (Biosystems and Biorobotics; Vol. 22). Springer. https://doi.org/10.1007/978-3-030-01887-0_62
Durandau, Guillaume ; van der Kooij, Herman ; Sartori, Massimo. / A computational framework for muscle-level control of bi-lateral robotic ankle exoskeletons. Wearable Robotics: challenges and trends. editor / Maria Chiara Carrozza ; Silvestro Micera ; José L. Pons. Springer, 2019. pp. 325-328 (Biosystems and Biorobotics).
@inbook{ced95ec144be4edeb83ef5ccd6bd91af,
title = "A computational framework for muscle-level control of bi-lateral robotic ankle exoskeletons",
abstract = "Recent effort in exoskeleton control resulted in reduction of human metabolic consumption during ground-level walking. In this context, solutions that would enable biomechanical and metabolic benefits across large repertoires of motor tasks would be central in supporting the human in both medical and industrial scenarios. With this idea in mind we created a muscle-driven controller based on electromyography (EMG)-driven musculoskeletal modeling that we interfaced with the robotic bi-lateral Achilles ankle exoskeleton previously developed in our group. Preliminary results on one healthy individual show the possibility of continuously decoding EMG-dependent muscle force and resulting ankle joint moment patterns in real-time across a range of diverse motor tasks. We demonstrate that this information can be used to establish a human-exoskeleton interface with high-resolution at the level of single muscle mechanics.",
author = "Guillaume Durandau and {van der Kooij}, Herman and Massimo Sartori",
year = "2019",
month = "1",
day = "1",
doi = "10.1007/978-3-030-01887-0_62",
language = "English",
isbn = "978-3-030-01886-3",
series = "Biosystems and Biorobotics",
publisher = "Springer",
pages = "325--328",
editor = "Carrozza, {Maria Chiara} and Silvestro Micera and Pons, {Jos{\'e} L.}",
booktitle = "Wearable Robotics",
address = "Germany",

}

Durandau, G, van der Kooij, H & Sartori, M 2019, A computational framework for muscle-level control of bi-lateral robotic ankle exoskeletons. in MC Carrozza, S Micera & JL Pons (eds), Wearable Robotics: challenges and trends. Biosystems and Biorobotics, vol. 22, Springer, pp. 325-328. https://doi.org/10.1007/978-3-030-01887-0_62

A computational framework for muscle-level control of bi-lateral robotic ankle exoskeletons. / Durandau, Guillaume; van der Kooij, Herman; Sartori, Massimo.

Wearable Robotics: challenges and trends. ed. / Maria Chiara Carrozza; Silvestro Micera; José L. Pons. Springer, 2019. p. 325-328 (Biosystems and Biorobotics; Vol. 22).

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

TY - CHAP

T1 - A computational framework for muscle-level control of bi-lateral robotic ankle exoskeletons

AU - Durandau, Guillaume

AU - van der Kooij, Herman

AU - Sartori, Massimo

PY - 2019/1/1

Y1 - 2019/1/1

N2 - Recent effort in exoskeleton control resulted in reduction of human metabolic consumption during ground-level walking. In this context, solutions that would enable biomechanical and metabolic benefits across large repertoires of motor tasks would be central in supporting the human in both medical and industrial scenarios. With this idea in mind we created a muscle-driven controller based on electromyography (EMG)-driven musculoskeletal modeling that we interfaced with the robotic bi-lateral Achilles ankle exoskeleton previously developed in our group. Preliminary results on one healthy individual show the possibility of continuously decoding EMG-dependent muscle force and resulting ankle joint moment patterns in real-time across a range of diverse motor tasks. We demonstrate that this information can be used to establish a human-exoskeleton interface with high-resolution at the level of single muscle mechanics.

AB - Recent effort in exoskeleton control resulted in reduction of human metabolic consumption during ground-level walking. In this context, solutions that would enable biomechanical and metabolic benefits across large repertoires of motor tasks would be central in supporting the human in both medical and industrial scenarios. With this idea in mind we created a muscle-driven controller based on electromyography (EMG)-driven musculoskeletal modeling that we interfaced with the robotic bi-lateral Achilles ankle exoskeleton previously developed in our group. Preliminary results on one healthy individual show the possibility of continuously decoding EMG-dependent muscle force and resulting ankle joint moment patterns in real-time across a range of diverse motor tasks. We demonstrate that this information can be used to establish a human-exoskeleton interface with high-resolution at the level of single muscle mechanics.

UR - http://www.scopus.com/inward/record.url?scp=85055059434&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-01887-0_62

DO - 10.1007/978-3-030-01887-0_62

M3 - Chapter

SN - 978-3-030-01886-3

T3 - Biosystems and Biorobotics

SP - 325

EP - 328

BT - Wearable Robotics

A2 - Carrozza, Maria Chiara

A2 - Micera, Silvestro

A2 - Pons, José L.

PB - Springer

ER -

Durandau G, van der Kooij H, Sartori M. A computational framework for muscle-level control of bi-lateral robotic ankle exoskeletons. In Carrozza MC, Micera S, Pons JL, editors, Wearable Robotics: challenges and trends. Springer. 2019. p. 325-328. (Biosystems and Biorobotics). https://doi.org/10.1007/978-3-030-01887-0_62