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Abstract
One of the approaches to study the human motor system, and specifically the motor strategies implied during postural tasks of the upper limbs, is to manipulate the mechanical conditions of each joint of the upper limbs independently. At the same time, it is essential to pick up biomechanical signals and bio-potentials generated while the human motor system adapts to the new condition. The aim of this paper is two-fold: first, to describe the design, development and validation of an experimental platform designed to modify or perturb the mechanics of human movement, and simultaneously acquire, process, display and quantify bioelectric and biomechanical signals; second, to characterise the dynamics of the elbow joint during postural control. A main goal of the study was to determine the feasibility of estimating human elbow joint dynamics using EMG-data during maintained posture. In particular, the experimental robotic platform provides data to correlate electromyographic (EMG) activity, kinetics and kinematics information from the upper limb motion. The platform aims consists of an upper limb powered exoskeleton, an EMG acquisition module, a control unit and a software system. Important concerns of the platform such as dependability and safety were addressed in the development. The platform was evaluated with 4 subjects to identify, using system identification methods, the human joint dynamics, i.e. visco-elasticity. Results obtained in simulations and experimental phase are introduced.
Highlights
Understanding and modelling the human motor system has become very important and requires the ability to simultaneously record sensory and motor responses during different motor tasks
index of muscle cocontraction around the joint (IMCJ) around elbow joint can be expressed as the equation below, (Osu and Gomi 1999; Osu et al 2004). sF1 and sE1 are the surface EMG activity of the elbow monoarticular flexor and extensor, respectively, and sF 2 and sE2 denote surface EMG activity of bi-articular flexor and extensor, respectively
An experimental platform has been developed to set up experiments in human movement and neuro-motor control, B [N.m/rad] K [N.m.s/rad]
Summary
Understanding and modelling the human motor system has become very important and requires the ability to simultaneously record sensory and motor responses during different motor tasks. Sensing and actuation systems as well as control strategies have been inspired biologically with models that capture the main features of the human motor control system (Kazerooni 1990; Herr et al 2003) This understanding about the human motor system permits to develop innovative bio-inspired control strategies to be implemented in devices that interface with the human body, for instance prostheses and orthoses, as well as to explore new therapies in disabled people with pathologies and disorders affecting the motor system. Numerous studies have modelled the dynamic behaviour of human body segments as a mechanical impedance, (Hogan 1985; Dolan et al 1993; Tsuji et al 1995). It appears that adaptive compensation for changes of this kind occurs very rapidly in relation to the dominant dynamics of the limb system
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