Lower Limb Assistive Device Design Optimization Using Musculoskeletal Modeling:A Review

Grabke, Emerson Paul; Masani, Kei; Andrysek, Jan

doi:10.1115/1.4044739

Cited by 31 publications

(25 citation statements)

References 82 publications

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“…Musculoskeletal simulation has become a valuable tool for examining the complex muscle-level and whole-body metabolic changes produced by exoskeleton devices [ 22 ]. Researchers have used simulation to analyze an existing exoskeleton and optimize its mechanical design [ 23 ] and to better understand human-device interaction [ 24 ].…”

Section: Introductionmentioning

confidence: 99%

Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: A simulation study

et al. 2022

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Assistive exoskeletons can reduce the metabolic cost of walking, and recent advances in exoskeleton device design and control have resulted in large metabolic savings. Most exoskeleton devices provide assistance at either the ankle or hip. Exoskeletons that assist multiple joints have the potential to provide greater metabolic savings, but can require many actuators and complicated controllers, making it difficult to design effective assistance. Coupled assistance, when two or more joints are assisted using one actuator or control signal, could reduce control dimensionality while retaining metabolic benefits. However, it is unknown which combinations of assisted joints are most promising and if there are negative consequences associated with coupled assistance. Since designing assistance with human experiments is expensive and time-consuming, we used musculoskeletal simulation to evaluate metabolic savings from multi-joint assistance and identify promising joint combinations. We generated 2D muscle-driven simulations of walking while simultaneously optimizing control strategies for simulated lower-limb exoskeleton assistive devices to minimize metabolic cost. Each device provided assistance either at a single joint or at multiple joints using massless, ideal actuators. To assess if control could be simplified for multi-joint exoskeletons, we simulated different control strategies in which the torque provided at each joint was either controlled independently or coupled between joints. We compared the predicted optimal torque profiles and changes in muscle and total metabolic power consumption across the single joint and multi-joint assistance strategies. We found multi-joint devices–whether independent or coupled–provided 50% greater metabolic savings than single joint devices. The coupled multi-joint devices were able to achieve most of the metabolic savings produced by independently-controlled multi-joint devices. Our results indicate that device designers could simplify multi-joint exoskeleton designs by reducing the number of torque control parameters through coupling, while still maintaining large reductions in metabolic cost.

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Section: Introductionmentioning

confidence: 99%

Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: A simulation study

et al. 2022

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“…In addition to varying noninvasive sensing technology for feature extraction, differing approaches can be used to attempt real-time estimation of joint-level responses. One approach consists of using musculoskeletal models involving inverse dynamics and the calculation of joint moments via reaction forces and limb kinematics [31]. Additionally, researchers have explored neuromuscular model-based approaches with surface EMG signals where features (e.g.…”

Section: Introductionmentioning

confidence: 99%

Performance of Sonomyographic and Electromyographic Sensing for Continuous Estimation of Joint Torque During Ambulation on Multiple Terrains

Rabe¹,

Lenzi

Fey

2021

IEEE Trans. Neural Syst. Rehabil. Eng.

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Advances in powered assistive device technology, including the ability to provide net mechanical power to multiple joints within a single device, have the potential to dramatically improve the mobility and restore independence to their users. However, these devices rely on the ability of their users to continuously control multiple powered lower-limb joints simultaneously. Success of such approaches rely on robust sensing of user intent and accurate mapping to device control parameters. Here, we compare two non-invasive sensing modalities: surface electromyography and sonomyography, (i.e., ultrasound imaging of skeletal muscle), as inputs to Gaussian process regression models trained to estimate hip, knee and ankle joint moments during varying forms of ambulation. Experiments were performed with ten ablebodied individuals instrumented with surface electromyography and sonomyography sensors while completing trials of level, incline (10°) and decline (10°) walking. Results suggest sonomyography of muscles on the anterior and posterior thigh can be used to estimate hip, knee and ankle joint moments more accurately than surface electromyography. Furthermore, these results can be achieved by training Gaussian process regression models in a task-independent manner; i.e., incorporating features of level and ramp walking within the same predictive framework. These findings support the integration of sonomyographic and electromyographic sensing within powered assistive devices to continuously control joint torque.

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“…Musculoskeletal simulation has become a valuable tool for examining the complex muscle-level and whole-body metabolic changes produced by exoskeleton devices [22].…”

Section: Introductionmentioning

confidence: 99%

Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: a simulation study

Bianco

Franks

Hicks

et al. 2021

Preprint

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Assistive exoskeletons can reduce the metabolic cost of walking, and recent advances in exoskeleton device design and control have resulted in large metabolic savings. Most exoskeleton devices provide assistance at either the ankle or hip. Exoskeletons that assist multiple joints have the potential to provide greater metabolic savings, but can require many actuators and complicated controllers, making it difficult to design effective assistance. Coupled assistance, when two or more joints are assisted using one actuator or control signal, could reduce control dimensionality while retaining metabolic benefits. However, it is unknown which combinations of assisted joints are most promising and if there are negative consequences associated with coupled assistance. Since designing assistance with human experiments is expensive and time-consuming, we used musculoskeletal simulation to evaluate metabolic savings from multi-joint assistance and identify promising joint combinations. We generated 2D muscle-driven simulations of walking while simultaneously optimizing control strategies for simulated lower-limb exoskeleton assistive devices to minimize metabolic cost. Each device provided assistance either at a single joint or at multiple joints using massless, ideal actuators. To assess if control could be simplified for multi-joint exoskeletons, we simulated different control strategies in which the torque provided at each joint was either controlled independently or coupled between joints. We compared the predicted optimal torque profiles and changes in muscle and whole-body metabolic power consumption across the single joint and multi-joint assistance strategies. We found multi-joint devices--whether independent or coupled--provided 50% greater metabolic savings than single joint devices. The coupled multi-joint devices were able to achieve most of the metabolic savings produced by independently-controlled multi-joint devices. Our results indicate that device designers could simplify multi-joint exoskeleton designs by reducing the number of torque control parameters through coupling, while still maintaining large reductions in metabolic cost.

show abstract

Lower Limb Assistive Device Design Optimization Using Musculoskeletal Modeling:A Review

Cited by 31 publications

References 82 publications

Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: A simulation study

Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: A simulation study

Performance of Sonomyographic and Electromyographic Sensing for Continuous Estimation of Joint Torque During Ambulation on Multiple Terrains

Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: a simulation study

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