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Model-Based Estimation of Ankle Joint Stiffness During Dynamic Tasks: a Validation-Based Approach

Christopher P. Cop, Guillaume Durandau, Alejandro Moya Esteban, Ronald C. van 't Veld, Alfred C. Schouten, Massimo Sartori
2019 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  
EMG signals, motion capture, and dynamic data of the ankle joint were collected in an experimental setup to study the ankle joint stiffness in a controlled way, i.e. at a movement frequency of 0.6 Hz as  ...  The model-based joint stiffness estimates were comparable to system identification techniques.  ...  EMG-driven musculoskeletal modeling allows the estimation of joint stiffness during dynamic tasks without the need of perturbing the joint [3] .  ... 
doi:10.1109/embc.2019.8857391 pmid:31946773 fatcat:ho46mijxlffz3h7dykr366wns4

Electromyography-driven model-based estimation of ankle torque and stiffness during dynamic joint rotations in perturbed and unperturbed conditions [article]

Christopher Pablo Cop, Alfred C. Schouten, Bart Koopman, Massimo Sartori
2022 Zenodo  
We show a novel model parameter calibration procedure that tries to fit reference joint torque and joint stiffness profiles.  ...  This article presents an electromyography-driven musculoskeletal model that can estimate joint torque and joint stiffness simultaneously.  ...  However, it was never investigated to what extent EMG-driven Hill-type muscle models could estimate reference joint stiffness profiles during dynamic tasks, during which short-range stiffness components  ... 
doi:10.5281/zenodo.6827143 fatcat:zmbwcjz4cjbcljwwsrsycxc36e

Subject-Specific Tendon-Aponeurosis Definition in Hill-Type Model Predicts Higher Muscle Forces in Dynamic Tasks

Pauline Gerus, Guillaume Rao, Eric Berton, Hani A. Awad
2012 PLoS ONE  
The use of subject-specific tendon-aponeurosis definition leads to a higher muscle force estimate for the soleus muscle and the plantar-flexor group, and to a better model prediction of the ankle joint  ...  Most neuromusculoskeletal models use a generic definition of the tendon-aponeurosis complex based on in vitro test, perhaps limiting their validity.  ...  model outputs such as the muscle force estimations and muscle fibre behaviours during highly dynamic tasks.  ... 
doi:10.1371/journal.pone.0044406 pmid:22952973 pmcid:PMC3430662 fatcat:cdckokjkcrem5kbk27ibb6sdhq

A Clinically Applicable Model to Estimate the Opposing Muscle Groups Contributions to Isometric and Dynamic Tasks

Pauline Gerus, Guillaume Rao, Thomas S. Buchanan, Eric Berton
2010 Annals of Biomedical Engineering  
This paper presents an EMG-to-moment optimization model suitable for clinical studies to estimate the contribution of agonist and antagonist muscle groups to the net ankle joint moment during dynamic and  ...  The Model 8-tasks predicted net joint moment with an average RMS error of 6.11 ± 4.41 Nm and a mean R² of 0.67 ± 0.26 across dynamic and isometric tasks.  ...  to the net joint moment during dynamic tasks.  ... 
doi:10.1007/s10439-010-9987-4 pmid:20217479 fatcat:sli6as54uzbj7h23ckhanvhvc4

Patellar Tendon Force Differs Depending on Jump-Landing Tasks and Estimation Methods

Sébastien Garcia, Nicolas Delattre, Eric Berton, Guillaume Rao
2022 Applied Sciences  
Patellar tendon forces were calculated through two estimation methods based on inverse dynamic and static optimization procedures, using a musculoskeletal model.  ...  The second purpose was to compare two different estimation methods of the patellar tendon force.  ...  Acknowledgments: The authors would like to thank Aurore Valgalier and Guillaume Divrechy (Decathlon SportsLab) for their help during the installation of the experimental setup and Emmanuel Ayad (Aix-Marseille  ... 
doi:10.3390/app12010488 fatcat:bdi7zwinurhpdofzs6vhbktdp4

A rigorous model of reflex function indicates that position and force feedback are flexibly tuned to position and force tasks

Winfred Mugge, David A. Abbink, Alfred C. Schouten, Julius P. A. Dewald, Frans C. T. van der Helm
2009 Experimental Brain Research  
Human ankle-control experiments were performed, using three task instructions and three perturbation characteristics to evoke a wide range of responses to force perturbations.  ...  During position tasks, subjects (n = 10) resisted the perturbations, becoming more stiff than when being relaxed (i.e., the relax task).  ...  Validation The fit procedure yielded a parameterized model that accurately captures the dynamics: Fig. 8 shows the magnitude and phase of the admittances during FT, RT and PT as estimated with the parameter  ... 
doi:10.1007/s00221-009-1985-0 pmid:19714322 pmcid:PMC2821582 fatcat:ad5d7psbojaajb7eyshxqw5ba4

Experimental Validation of Motor Primitive-Based Control for Leg Exoskeletons during Continuous Multi-Locomotion Tasks

Virginia Ruiz Garate, Andrea Parri, Tingfang Yan, Marko Munih, Raffaele Molino Lova, Nicola Vitiello, Renaud Ronsse
2017 Frontiers in Neurorobotics  
The proposed controller was tested for the first time with a unilateral leg exoskeleton assisting hip, knee, and ankle joints by delivering a fraction of the computed reference torques.  ...  The proposed controller was tested for the first time with a unilateral leg exoskeleton assisting hip, knee, and ankle joints by delivering a fraction of the computed reference torques.  ...  DiscUssiOn In this contribution, we presented an experimental validation of a biologically inspired controller based on motor primitives.  ... 
doi:10.3389/fnbot.2017.00015 pmid:28367121 pmcid:PMC5355439 fatcat:tfmvct7uozgsrb7wcknynl7vjy

Impact-Aware Task-Space Quadratic-Programming Control [article]

Yuquan Wang, Niels Dehio, Arnaud Tanguy, Abderrahmane Kheddar
2020 arXiv   pre-print
The novelty of our approach is twofold: (i) it uses the task-space inverse dynamics formalism that we extend by seamlessly integrating impact tasks; (ii) it does not require separate models with switches  ...  To achieve such prediction, we formulate task-space impacts and its spreading along the kinematic tree of a floating-base robot with subsequent joint velocity and torque jumps.  ...  Yuquan Wang is partially supported by the National Natural Science Foundation of China (U1613216) and Shenzhen Fundamental Research Grant (JCYJ20180508162406177) through the Chinese University of Hong-Kong  ... 
arXiv:2006.01987v2 fatcat:oqja43qdojcsllftwsswpmvafy

Model-based estimation of active knee stiffness

S. Pfeifer, M. Hardegger, H. Vallery, R. List, M. Foresti, R. Riener, E. J. Perreault
2011 2011 IEEE International Conference on Rehabilitation Robotics  
The method estimates stiffness using a musculoskeletal model of the leg and a model for activation-dependent short-range muscle stiffness.  ...  For isometric validation, we compare model estimates to measurements involving joint perturbations; measured stiffness is 17% lower than model estimates for extension, and 42% lower for flexion torques  ...  Acknowledgments This work was supported by the ETH Research Grant ETHIIRA, the Gottfried und Julia Bangerter-Rhyner Stiftung and the Swiss National Science Foundation through the National Centre of Competence  ... 
doi:10.1109/icorr.2011.5975474 pmid:22275672 pmcid:PMC3622198 fatcat:5cx72sqnmjfkhe4rgcbdbaerga

Estimation of intrinsic and reflex contributions to muscle dynamics: a modeling study

E.J. Perreault, P.E. Crago, R.F. Kirsch
2000 IEEE Transactions on Biomedical Engineering  
This work evaluated system identification-based approaches for estimating stretch reflex contributions to muscle dynamics.  ...  A simulation-based approach was used so that the "true" characters of the intrinsic and reflex systems were known; the identification methods were judged on their abilities to retrieve these known system  ...  INTRODUCTION T HIS paper describes a modeling study that evaluated system identification-based approaches for noninvasively estimating the stretch reflex contribution to muscle dynamics.  ... 
doi:10.1109/tbme.2000.880092 pmid:11077734 fatcat:755m7im5trempk7z7ifh6y4pee

Long-latency muscle activity reflects continuous, delayed sensorimotor feedback of task-level and not joint-level error

Seyed A. Safavynia, Lena H. Ting
2013 Journal of Neurophysiology  
is based on task-level vs. joint-level error.  ...  responses are modulated based on attainment of task-level goals, e.g., desired direction of limb movement.  ...  Reconstructions based on joint kinematics improved when information from two joints were used, even in the case of TA, a monoarticular muscle that acts solely at the ankle joint.  ... 
doi:10.1152/jn.00609.2012 pmid:23803325 pmcid:PMC3763153 fatcat:5wwah2cqljhwnfqsq4xowmi3vm

Neuromechanics of Dynamic Balance Tasks in the Presence of Perturbations

Victor Munoz-Martel, Alessandro Santuz, Sebastian Bohm, Adamantios Arampatzis
2021 Frontiers in Human Neuroscience  
We found sparse alterations in the resultant joint moments and EMG activity, indicating a little if any effect of perturbations on muscle mechanical loading.  ...  In this study, we investigated the effects of perturbations, induced by unstable surfaces, on the mechanical loading and the modular organization of motor control in the lower limb muscles during lunging  ...  This approach has been previously validated using force plate data with true errors being 12 ± 18 ms for walking, −16 ± 23 ms for running and 13 ± 9 ms for the estimation of a single leg standing liftoff  ... 
doi:10.3389/fnhum.2020.560630 pmid:33584219 pmcid:PMC7874030 fatcat:73jdf56eaffhnmet66lkthfowu

An architecture for immersive evaluation of complex human tasks

T. Molet, R. Boulic, S. Rezzonico, D. Thalmann
1999 IEEE Transactions on Robotics and Automation  
The accuracy of this information is of definite importance to evaluate the feasibility of complex tasks involving human beings. We present a full body movement measurement approach.  ...  It provides a realistic conversion in real-time with a reasonable number of sensors.  ...  A specific difficulty of this method is the spring stiffness adjustment. Two analytical solutions based on both position and orientation measurements are detailed in [10] and [11] .  ... 
doi:10.1109/70.768180 fatcat:4wqhkphvjngjpmnousafar7xie

Linear Parameter Varying Identification of Dynamic Joint Stiffness during Time-Varying Voluntary Contractions

Mahsa A. Golkar, Ehsan Sobhani Tehrani, Robert E. Kearney
2017 Frontiers in Computational Neuroscience  
Dynamic joint stiffness is a dynamic, nonlinear relationship between the position of a joint and the torque acting about it, which can be used to describe the biomechanics of the joint and associated limb  ...  The SV was estimated from the Soleus EMG using a Hammerstein model of EMG-torque dynamics identified from unperturbed trials.  ...  Visser (2010) studied ankle joint stiffness during a sinusoidal torque matching task, where a monotonic increase in elastic parameter with voluntary torque was observed similar to the observation of this  ... 
doi:10.3389/fncom.2017.00035 pmid:28579954 pmcid:PMC5437117 fatcat:aruv4aakabccddj4mdmn3ytydi

Effects of Increasing Balance Task Difficulty on Postural Sway and Muscle Activity in Healthy Adolescents

Arnd Gebel, Benjamin Lüder, Urs Granacher
2019 Frontiers in Physiology  
Testing involved participants to stand on a commercially available balance board with an adjustable pivot that allowed six levels of increasing task difficulty.  ...  Repeated measures analyses of variance revealed a significant main effect of BTD with increasing task difficulty for postural sway (p < 0.001; d = 6.36), muscle activity (p < 0.001; 2.19 < d < 4.88), and  ...  Increases in coactivation of the TA and soleus were interpreted as a strategy to provide more postural stability by higher ankle joint stiffness.  ... 
doi:10.3389/fphys.2019.01135 pmid:31551811 pmcid:PMC6733969 fatcat:dm4wn6kn5vhmnfpteyad4dqw3m
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