A patient-specific EMG-driven neuromuscular model for the potential use of human-inspired gait rehabilitation robots.
A patient-specific electromyography (EMG)-driven neuromuscular model (PENm) is developed for the potential use of human-inspired gait rehabilitation robots. The PENm is modified based on the current EMG-driven models by decreasing the calculation time and ensuring good prediction accuracy. To ensure the calculation efficiency, the PENm is simplified into two EMG channels around one joint with minimal physiological parameters. In addition, a dynamic computation model is developed to achieve real-time calculation. To ensure the calculation accuracy, patient-specific muscle kinematics information, such as the musculotendon lengths and the muscle moment arms during the entire gait cycle, are employed based on the patient-specific musculoskeletal model. Moreover, an improved force-length-velocity relationship is implemented to generate accurate muscle forces. Gait analysis data including kinematics, ground reaction forces, and raw EMG signals from six adolescents at three different speeds were used to evaluate the PENm. The simulation results show that the PENm has the potential to predict accurate joint moment in real-time. The design of advanced human-robot interaction control strategies and human-inspired gait rehabilitation robots can benefit from the application of the human internal state provided by the PENm.
['Ma|Ye|Y|', 'Xie|Shengquan|S|', 'Zhang|Yanxin|Y|']
D000293:Adolescent D004576:Electromyography D005260:Female D005684:Gait D006801:Humans D008297:Male D008959:Models, Neurological D057285:Precision Medicine D012046:Rehabilitation D012371:Robotics
Gait rehabilitation Musculoskeletal model Hill-type muscle Robot control Sensitivity analysis