MyoSim: Fast and physiologically realistic MuJoCo models for musculoskeletal and exoskeletal studies

Huawei Wang, Vittorio Caggiano, Guillaume Durandau, Massimo Sartori, Vikash Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

8 Citations (Scopus)
526 Downloads (Pure)

Abstract

Owing to the restrictions of live experimentation, musculoskeletal simulation models play a key role in biological motor control studies and investigations. Successful results of which are then tried on live subjects to develop treatments as well as robot aided rehabilitation procedures for addressing neuromusculoskeletal anomalies ranging from limb loss, to tendinitis, from sarcopenia to brain and spinal injuries. Despite its significance, current musculoskeletal models are computationally expensive, and provide limited support for contact-rich interactions which are essential for studying motor behaviors in activities of daily living, during rehabilitation treatments, or in assistive robotic devices. To bridge this gap, this work proposes an automatic pipeline to generate physiologically accurate musculoskeletal, as well as hybrid musculoskeletal-exoskeletal models. Leveraging this pipeline we present MyoSim - a set of computationally efficient (over 2 orders of magnitude faster than state of the art) musculoskeletal models that support fully interactive contact rich simulation. We further extend MyoSim to support additional features that help simulate various real-life changes/diseases, such as muscle fatigue, and sarcopenia. To demonstrate the potential applications, several use cases, including interactive rehabilitation movements, tendon-reaffirmation, and the cosimulation with an exoskeleton, were developed and investigated for physiological correctness. Web-page: https://sites.google.com/view/myosuite

Original languageEnglish
Title of host publication2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PublisherIEEE
Pages8104-8111
Number of pages8
ISBN (Electronic)978-1-7281-9681-7
ISBN (Print)978-1-7281-9682-4
DOIs
Publication statusPublished - 12 Jul 2022
Event39th IEEE International Conference on Robotics and Automation, ICRA 2022 - Philadelphia, PA, USA, Philadelphia, United States
Duration: 23 May 202227 May 2022
Conference number: 39

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference39th IEEE International Conference on Robotics and Automation, ICRA 2022
Abbreviated titleICRA 2022
Country/TerritoryUnited States
CityPhiladelphia
Period23/05/2227/05/22

Keywords

  • 22/3 OA procedure

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