Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks

Guillaume Durandau; Wolfgang Rampeltshammer; Herman van der Kooij; Massimo Sartori

doi:10.1007/978-3-030-69547-7_40

Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks

Guillaume Durandau^*, Wolfgang Rampeltshammer, Herman van der Kooij, Massimo Sartori

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review

Abstract

Neuromusculoskeletal modeling driven by electromyograms (EMG) has shown the ability to predict joint torque for a wide variety of movements. Taking advantage of this, we connected a real-time version of an EMG-driven model to a bilateral ankle exoskeleton to continuously assist during a wide repertory of locomotion tasks. The advantage is that the user controls the exoskeleton voluntarily, i.e. as a direct function of own muscle force. As a result, the developed framework can seamlessly assist in different tasks as well as transitions between tasks without having to change any parameters or using an additional algorithm to switch between states. Results on three participants show that an exoskeleton controlled via this framework reduces EMGs during locomotion tasks with various speeds and/or inclinations. This is the first step toward creating controller allowing to assist in tasks independent manner.

Original language	English
Title of host publication	Wearable Robotics: Challenges and Trends
Subtitle of host publication	Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020
Publisher	Springer
Pages	247-250
Number of pages	4
ISBN (Electronic)	978-3-030-69547-7
ISBN (Print)	978-3-030-69546-0, 978-3-030-69549-1
DOIs	https://doi.org/10.1007/978-3-030-69547-7_40
Publication status	Published - 2022
Event	5th International Symposium on Wearable Robotics, WeRob 2020 - Virtual conference Duration: 13 Oct 2020 → 16 Oct 2020 Conference number: 5 https://www.wearableroboticslab.nl/Events/2020/10/648432/balance-recovery-support-using-wearable-robotic-devices#speakers-talks

Publication series

Name	Biosystems and Biorobotics
Volume	27
ISSN (Print)	2195-3562
ISSN (Electronic)	2195-3570

Conference

Conference	5th International Symposium on Wearable Robotics, WeRob 2020
Abbreviated title	WeRob 2020
Period	13/10/20 → 16/10/20
Internet address	https://www.wearableroboticslab.nl/Events/2020/10/648432/balance-recovery-support-using-wearable-robotic-devices#speakers-talks

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10.1007/978-3-030-69547-7_40

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Durandau, G., Rampeltshammer, W., van der Kooij, H., & Sartori, M. (2022). Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks. In Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020 (pp. 247-250). (Biosystems and Biorobotics; Vol. 27). Springer. https://doi.org/10.1007/978-3-030-69547-7_40

Durandau, Guillaume ; Rampeltshammer, Wolfgang ; van der Kooij, Herman et al. / Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks. Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. Springer, 2022. pp. 247-250 (Biosystems and Biorobotics).

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title = "Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks",

abstract = "Neuromusculoskeletal modeling driven by electromyograms (EMG) has shown the ability to predict joint torque for a wide variety of movements. Taking advantage of this, we connected a real-time version of an EMG-driven model to a bilateral ankle exoskeleton to continuously assist during a wide repertory of locomotion tasks. The advantage is that the user controls the exoskeleton voluntarily, i.e. as a direct function of own muscle force. As a result, the developed framework can seamlessly assist in different tasks as well as transitions between tasks without having to change any parameters or using an additional algorithm to switch between states. Results on three participants show that an exoskeleton controlled via this framework reduces EMGs during locomotion tasks with various speeds and/or inclinations. This is the first step toward creating controller allowing to assist in tasks independent manner.",

author = "Guillaume Durandau and Wolfgang Rampeltshammer and {van der Kooij}, Herman and Massimo Sartori",

note = "Funding Information: Acknowlegements The study was supported by ERC Starting Grant INTERACT (803035) and H2020 Grant SOPHIA (871237). Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 5th International Symposium on Wearable Robotics, WeRob 2020 , WeRob 2020 ; Conference date: 13-10-2020 Through 16-10-2020",

year = "2022",

doi = "10.1007/978-3-030-69547-7_40",

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Durandau, G, Rampeltshammer, W, van der Kooij, H & Sartori, M 2022, Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks. in Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. Biosystems and Biorobotics, vol. 27, Springer, pp. 247-250, 5th International Symposium on Wearable Robotics, WeRob 2020 , 13/10/20. https://doi.org/10.1007/978-3-030-69547-7_40

Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks. / Durandau, Guillaume; Rampeltshammer, Wolfgang; van der Kooij, Herman et al.
Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. Springer, 2022. p. 247-250 (Biosystems and Biorobotics; Vol. 27).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review

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T1 - Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks

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AU - Sartori, Massimo

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AB - Neuromusculoskeletal modeling driven by electromyograms (EMG) has shown the ability to predict joint torque for a wide variety of movements. Taking advantage of this, we connected a real-time version of an EMG-driven model to a bilateral ankle exoskeleton to continuously assist during a wide repertory of locomotion tasks. The advantage is that the user controls the exoskeleton voluntarily, i.e. as a direct function of own muscle force. As a result, the developed framework can seamlessly assist in different tasks as well as transitions between tasks without having to change any parameters or using an additional algorithm to switch between states. Results on three participants show that an exoskeleton controlled via this framework reduces EMGs during locomotion tasks with various speeds and/or inclinations. This is the first step toward creating controller allowing to assist in tasks independent manner.

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Durandau G, Rampeltshammer W, van der Kooij H , Sartori M. Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks. In Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. Springer. 2022. p. 247-250. (Biosystems and Biorobotics). doi: 10.1007/978-3-030-69547-7_40

Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks

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