Abstract
Joint stiffness estimation under dynamic conditions still remains a challenge. Current stiffness estimation methods often rely on the external perturbation of the joint. In this study, a novel 'perturbation-free' stiffness estimation method via electromyography (EMG)-driven musculoskeletal modeling was validated for the first time against system identification techniques. 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 well as in the presence and absence of external perturbations. The model-based joint stiffness estimates were comparable to system identification techniques. The ability to estimate joint stiffness at any instant of time, with no need to apply joint perturbations, might help to fill the gap of knowledge between the neural and the muscular systems and enable the subsequent development of tailored neurorehabilitation therapies and biomimetic prostheses and orthoses.
Highlights
Joint stiffness is a mechanical property that is, in most of the cases, subconsciously modulated in humans across movements [1]
We present an EMG-driven ankle musculoskeletal model and validate it against system identification techniques in a controlled dynamic ankle stiffness estimation experiment
Differences between our proposed methodology and a system identification algorithm adapted for this specific experiment were greater
Summary
Joint stiffness is a mechanical property that is, in most of the cases, subconsciously modulated in humans across movements [1]. This modulation allows us to naturally adapt to different terrains and conditions [2]. Even though joint stiffness has been extensively investigated in the past decades [3], its regulation mechanisms are not completely understood yet. The dependency of this mechanical property on loading conditions, muscle contractile properties and neural control strategies represent a challenge for its estimation in vivo. Two examples of formulations of joint stiffness include short-range stiffness (SRS) and quasistiffness
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