Abstract
Back-support (BS) exoskeletons aim at preventing or minimizing low-back pain in workers within occupational environments. Currently, there is no consensus on the optimal controller for BS exoskeletons. We propose a controller based on electromyography (EMG)-informed musculoskeletal modeling that estimates back muscle-tendon forces and moments. In this study, we validate an EMG-driven trunk model to estimate flexion-extension moments at the lumbar L5/S1 joint, during symmetric lifting tasks. In a first experimental session, ground reaction forces, subject kinematics and bipolar EMG activity from abdominal and lumbar muscles were recorded to estimate L5/S1 moments using both, inverse dynamics (ID) and EMG-driven modeling approaches. One subject performed squatting and stooping lifting tasks with three weight conditions (0, 5 and 15 kg). Correlation coefficients, R2, between reference moments (from ID) and corresponding EMG-driven estimates ranged between 0.94 and 0.98, with root mean squared errors between 10.23 and 20.30 Nm. In a second experimental session,}4 high-density EMG (HDEMG) grids (256 channels) were used to generate high-fidelity topographical activation maps of thoracolumbar muscles during lifting tasks. These maps revealed that lifting objects using the squatting technique, underlay a shift of activation from caudal muscle trunk regions to cranial areas while lowering the weights. Muscle forces derived from EMG-driven modeling altogether with HDEMG activation maps are here proposed as a new framework to understand trunk neuromechanics during complex lifting tasks.
Original language | English |
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Title of host publication | 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020 |
Publisher | IEEE |
Pages | 1109-1114 |
Number of pages | 6 |
ISBN (Electronic) | 9781728159072 |
DOIs | |
Publication status | Published - Nov 2020 |
Event | 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020 - Virtual Conference, New York City, United States Duration: 29 Nov 2020 → 1 Dec 2020 Conference number: 8 https://biorob2020nyc.org/ |
Publication series
Name | Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics |
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Volume | 2020-November |
ISSN (Print) | 2155-1774 |
Conference
Conference | 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020 |
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Abbreviated title | BioRob 2020 |
Country/Territory | United States |
City | New York City |
Period | 29/11/20 → 1/12/20 |
Internet address |
Keywords
- 22/2 OA procedure