Pairs Of Muscles Research Articles

The Development and Reliability of a Surface Electromyography-Based Index for Quantifying Knee Muscle Coactivation During the Lower Quarter Y-Balance Test

This study aimed to develop and evaluate the reliability of a surface electromyography-based (sEMG) index to quantify knee muscle coactivation in healthy recreational athletes during the Lower Quarter Y-Balance Test (YBT-LQ). A prospective observational repeated measures design was used to assess both intra- and inter-rater reliability. Forty males completed three trials, with two raters independently conducting assessments. sEMG signals from the vastus medialis, vastus lateralis, biceps femoris, and semitendinosus muscles were collected to calculate four coactivation indices (CoAIs) for different muscle pairs. The reliability evaluation of these CoAIs was based on intraclass correlation coefficients. The results revealed that the reliability of the CoAIs varied depending on the muscle pair, direction, and limb examined. The highest intra- and inter-rater reliability was noted for the left lower limb in the posterolateral direction. The lowest reliability was found for the right lower limb in the anterior direction. Statistical analyses indicated significant differences in specific CoAIs across different YBT-LQ directions. These findings highlight the potential of sEMG-based CoAIs for assessing knee muscle activity during the YBT-LQ in healthy male recreational athletes. However, choosing CoAIs is critical for reliable clinical and research assessments of knee stability and neuromuscular control.

Effect of fatigue on intermuscular EMG-EMG coupling during bench press exercise at 60% 1RM workload in males.

To explore the neuromuscular control mechanism and quantifying the fatigue response during bench press exercise is important references to prescribe an appropriate exercise program. However, current literature struggles to provide a concrete conclusion on the changes of intermuscular EMG-EMG coupling between synergistic and antagonist muscles during the exercise. Thus, the current study was designed to reveal fatigue-related changes of intermuscular EMG-EMG coupling during bench press exercise. Thirty-one healthy male participants performed a bench press exercise on the Smith machine at 60% One Repetition Maximum (1RM) workload to exhaustion, while surface electromyographic signals (sEMG) were collected from triceps brachii (TB), biceps brachii (BB), anterior deltoid (AD), posterior deltoid (PD), and pectoralis major (PM). Surface EMG signals were divided into the first half and second half of the bench press exercise. Phase synchronization index (PSI) was calculated between sEMG of synergistic muscle pairs AD-TB, AD-PM and antagonist muscle pairs BB-TB, AD-PD. EMG power of TB, AD, PD, PM muscles in alpha (8-12 Hz) frequency band and EMG power of each muscle in beta (15-35 Hz), and gamma (35-60 Hz) frequency bands were all increased during the second half of contraction compared with the first half of contraction. PSI of gamma frequency band was significantly decreased in BB-TB muscle pair while EMG-EMG coupling of AD-TB in gamma frequency band was significantly increased during the second half of contraction compared to the first half of contraction. The results indicated a decrease of interconnection between synchronized cortical neurons and the motoneuron pool of BB and TB, and an increase of interconnection between AD-TB muscles during fatiguing bench press exercise at 60% 1RM workload. The changes of intermuscular coupling may be related to the supraspinal modulations to compensate for the decrease of muscle force as well as a result of unbalanced changes of agonist and antagonist muscle contractility.

Evaluation of Trunk Oblique Muscle Activities in Baseball Batters Using T2-Weighted Magnetic Resonance Imaging.

Takuya, Y, Taro, I, Chihiro, K, Mana, O, Takahiro, O, and Masako, H. Evaluation of trunk oblique muscle activities in baseball batters using T2-weighted magnetic resonance imaging. J Strength Cond Res XX(X): 000-000, 2024-This study investigated abdominal oblique muscle activity using T2-weighted imaging in baseball batting. For this purpose, 17 baseball batters (21.6 ± 2.7 years, 173.9 ± 4.0 cm, 77.5 ± 7.6 kg) performed 100 toss-batting trials. Before and after toss-batting, 3 Tesla magnetic resonance imaging scans were performed to obtain the T2 values of the 4 abdominal external and internal oblique muscle pairs. The results showed that the T2 values of all abdominal oblique muscles were significantly increased after the 100 trials (p < 0.05), with no differences in these increases between the muscles. The rate of change in the T2 values was 1.0 ± 3.9% and 4.2 ± 5.2% for the external and internal oblique muscles on the pitcher's side and 3.2 ± 5.1% and 0.9 ± 2.5% for the external and internal oblique muscles on the catcher's side, respectively. These findings indicate that the activity levels of all abdominal oblique muscles during baseball battings are similar and lower than those of the agonist muscles used during resistance exercise and sprinting. These findings suggest that baseball batting is a low-intensity exercise of the abdominal oblique muscles, but adequate training of each abdominal oblique muscle may improve batting performance and prevent injury.

Electrohydraulic musculoskeletal robotic leg for agile, adaptive, yet energy-efficient locomotion

Robotic locomotion in unstructured terrain demands an agile, adaptive, and energy-efficient architecture. To traverse such terrains, legged robots use rigid electromagnetic motors and sensorized drivetrains to adapt to the environment actively. These systems struggle to compete with animals that excel through their agile and effortless motion in natural environments. We propose a bio-inspired musculoskeletal leg architecture driven by antagonistic pairs of electrohydraulic artificial muscles. Our leg is mounted on a boom arm and can adaptively hop on varying terrain in an energy-efficient yet agile manner. It can also detect obstacles through capacitive self-sensing. The leg performs powerful and agile gait motions beyond 5 Hz and high jumps up to 40 % of the leg height. Our leg’s tunable stiffness and inherent adaptability allow it to hop over grass, sand, gravel, pebbles, and large rocks using only open-loop force control. The electrohydraulic leg features a low cost of transport (0.73), and while squatting, it consumes only a fraction of the energy (1.2 %) compared to its conventional electromagnetic counterpart. Its agile, adaptive, and energy-efficient properties would open a roadmap toward a new class of musculoskeletal robots for versatile locomotion and operation in unstructured natural environments.

Altered muscle fibre activation in an antagonistic muscle pair due to perturbed afferent feedback caused by blood flow restriction

PurposeThis study aimed to better understand the coping strategy of the neuromuscular system under perturbed afferent feedback. To this end, the neuromechanical effects of transient blood flow restriction (BFR) compared to atmospheric pressure were investigated in an antagonistic muscle pair. MethodsPerceived discomfort and neuromechanical parameters (torque and high-density electromyography) were recorded during submaximal isometric ankle dorsiflexion before, during and after BFR. The tibialis anterior and gastrocnemius lateralis muscles were studied in 14 healthy young adults. ResultsDiscomfort increased during BFR and decreased to baseline level afterwards. The exerted torque and the co-activation index remained constant, whereas the EMG signal energy increased significantly during BFR. Coherence analysis of the delta band remained constant, whereas the alpha band shows an increase during BFR. Median frequency and muscle fibre conduction velocity showed a positive trend during the first minutes of BFR before significantly decreasing. Both parameters exceeded baseline values after cuff deflation. ConclusionPerturbed afferent feedback leads to altered neuromechanical parameters. We assume that increased central drive is required to maintain force output, resulting in changed muscle fibre activity. Glycolytic fast-switch fibres are only active for a short time due to oxygen deprivation and hyperacidity, but fatigue effects predominate in the long term.

Asymmetric triangular body-cover model of the vocal folds with bilateral intrinsic muscle activation.

Many voice disorders are linked to imbalanced muscle activity and known to exhibit asymmetric vocal fold vibration. However, the relation between imbalanced muscle activation and asymmetric vocal fold vibration is not well understood. This study introduces an asymmetric triangular body-cover model of the vocal folds, controlled by the activation of bilateral intrinsic laryngeal muscles, to investigate the effects of muscle imbalance on vocal fold oscillation. Various scenarios were considered, encompassing imbalance in individual muscles and muscle pairs, as well as accounting for asymmetry in lumped element parameters. Measurements of amplitude and phase asymmetries were employed to match the oscillatory behavior of two pathological cases: unilateral paralysis and muscle tension dysphonia. The resulting simulations exhibit muscle imbalance consistent with expectations in the composition of these voice disorders, yielding asymmetries exceeding 30% for paralysis and below 5% for dysphonia. This underscores the relevance of muscle imbalance in representing phonatory scenarios and its potential for characterizing asymmetry in vocal fold vibration.

A coactivation strategy in anticipatory postural adjustments during voluntary unilateral arm movement while standing in individuals with bilateral spastic cerebral palsy

Individuals with bilateral spastic cerebral palsy (BSCP) reportedly has problems with anticipatory postural adjustments (APAs) while standing. However, the use of coactivation strategy in APAs in individuals with BSCP has conflicting evidence. Hence, this study aimed to investigate postural muscle activities in BSCP during unilateral arm flexion task in which postural perturbations occur in the sagittal, frontal, and horizontal planes. We included 10 individuals with BSCP with level II on the Gross Motor Function Classification System (BSCP group) and 10 individuals without disability (control group). The participants stood on a force platform and rapidly flexed a shoulder from 0° to 90° at their own timing. Surface electromyograms were recorded from the rectus femoris, medial hamstring, tibialis anterior, and medial gastrocnemius. The control group showed a mixture of anticipatory activation and inhibition of postural muscles, whereas the BSCP group predominantly exhibited anticipatory activation with slight anticipatory inhibition. Compared with the control group, the BSCP group tended to activate the ipsilateral and contralateral postural muscles and the agonist–antagonist muscle pairs. The BSCP group had a larger disturbance in postural equilibrium, quantified by the peak displacement of center of pressure during the unilateral arm flexion, than those without disability. Individuals with BSCP may use coactivation strategy, mainly the anticipatory activation of postural muscle activity, during a task that requires a selective postural muscle activity to maintain stable posture.

Comparative Effects of Fatiguing Exercise on Anticipatory and Compensatory Postural Adjustments between Trained and Untrained Individuals.

This study evaluates the effects of general fatiguing exercises on anticipatory postural adjustments (APAs), compensatory postural adjustments (CPAs), and standing stability between 18 individuals with comprehensive training experience (TR) and 18 untrained individuals (UT). Assessments were conducted before and after a 20-min fatiguing exercise using surface electromyography and a force platform during self-initiated perturbation and postural stability tests. Key findings include that, irrespective of fatigue, the APAs onsets in the TrA/IO (p = 0.004), LMF (PRE p = 0.003, POST p < 0.001), and ST (PRE p = 0.001, POST p = 0.006) muscles activated earlier in the TR group than in the UT group. Additionally, the APA co-contraction indices of the TrA/IO-LMF (PRE p = 0.011, POST p = 0.029), TrA/IO-ST (p = 0.014), and LMF-ST (PRE p = 0.002, POST p = 0.005) muscle pairs were higher in the TR group. After fatigue, the UT group significantly increased CPA co-contraction indices for the TrA/IO-LMF (p = 0.035) and LMF-ST (p = 0.005) muscle pairs. This research highlights the importance of comprehensive training in facilitating feedforward control strategies, particularly for individuals facing challenging postural conditions, such as fatigue or disturbances.

Fatigue-related changes in intermuscular electromyographic coherence across rotator cuff and deltoid muscles in individuals with and without subacromial pain.

Neuromuscular fatigue induces superior migration of the humeral head in individuals with subacromial pain. This has been attributed to weakness of rotator cuff muscles and overactive deltoid muscles. Investigation of common inputs to motoneuron pools of the rotator cuff and deltoid muscles offers valuable insight into the underlying mechanisms of neuromuscular control deficits associated with subacromial pain. This study aims to investigate intermuscular coherence across the rotator cuff and deltoid muscles during a sustained submaximal isometric fatiguing contraction in individuals with and without subacromial pain. Twenty symptomatic and 18 asymptomatic young adults participated in this study. Surface electromyogram (EMG) was recorded from the middle deltoid (MD) and infraspinatus (IS). Intramuscular EMG was recorded with fine-wire electrodes in the supraspinatus (SS). Participants performed an isometric fatiguing contraction of 30° scaption at 25% maximum voluntary contraction (MVC) until endurance limit. Pooled coherence of muscle pairs (SS-IS, SS-MD, IS-MD) in the 2-5 Hz (delta), 5-15 Hz (alpha), and 15-35 Hz (beta) frequency bands during the initial and final 30 s of the fatigue task were compared. SS-IS and SS-MD delta-band coherence increased with fatigue in the asymptomatic group but not the symptomatic group. In the alpha and beta bands, SS-IS and SS-MD coherence increased with fatigue in both groups. IS-MD beta-band coherence was greater in the symptomatic than the asymptomatic group. Individuals with subacromial pain failed to increase common drive across rotator cuff and deltoid muscles and have altered control strategies during neuromuscular fatigue. This may contribute to glenohumeral joint instability and subacromial pain experienced by these individuals.NEW & NOTEWORTHY Through the computation of shared neural drive across glenohumeral muscles, this study reveals that individuals with subacromial pain were unable to increase shared neural drive within the rotator cuff and across the supraspinatus and deltoid muscles during neuromuscular fatigue induced by sustained isometric contraction. These deficits in common drive across the shoulder muscles likely contribute to the joint instability and pain experienced by these individuals.

Upper Limbs Muscle Co-Contraction Changes Correlate With The Physical Motor Impairments in CMT.

Subjects with Charcot-Marie-Tooth (CMT) disease show hands impairment which is a relevant problem affecting the quality of life. This symptom is related to muscle weakness and reduced motor coordination of the upper limb. However, most studies focus on lower limb impairment, therefore the investigation of upper limb disability is necessary to identify biomarkers able to monitor disease-specific features and to tailor rehabilitation. This study aimed at characterizing upper limb muscle co-contraction using the co-contraction index (CCI) in CMT population. Upper limb kinematic and electromyography (EMG) data were collected from fourteen CMT subjects (6-CMT1A and 8-CMT1X) during motor tasks typical of daily living activities. Rudolph's CCI was used to quantify muscle co-contraction of four muscle pairs acting on shoulder, elbow and wrist. All CMT subjects underwent clinical examination. Thirteen healthy subjects served as the normative reference (HC). CMT1X and CMT1A showed a significant reduction in CCI for distal and proximal muscle pairs compared to HC. Furthermore, CMT1A showed greater values of CCI compared to CMT1X mainly for the axial and axial-to-proximal muscle pairs. Movement speed and smoothness were not altered compared to HC. In addition, EMG metrics showed moderate-to-strong significant correlations with clinical outcomes. CCI was able to quantify disease-specific deficits with respect to the normative reference, highlighting motor control alterations even before motor output impairment. CCI was also sensitive in detecting CMT subtypes-based differences and adopted compensatory strategies. Our findings suggest that CCI can be an outcome measure for CMT disease monitoring and interventional studies.

Bilateral, symmetrical, tripartite variation of the anterior belly of digastric muscle

BackgroundThe anterior and posterior bellies of digastric muscle act to facilitate components of phonation, jaw opening, and hyoid bone stabilization during swallowing. Variations in the digastric muscle within the submental triangle are well-documented in the literature. Ongoing and up-to-date reporting and knowledge of these variations is important from a clinical perspective. MethodRoutine human anatomical dissection of the anterior neck in a male donor revealed bilateral pairs of accessory muscles (n = 4) attached to and within the depth plane of right and left anterior bellies of digastric muscles. ResultsThe case presented here is of a bilateral, tripartite digastric muscle variation within the submental triangle of an anatomical donor. Attachments and relationships were noted. Variant digastric muscles were found to be innervated by the nerve to the mylohyoid muscle and supplied by the submental artery, consistent with supply to the anterior belly of the digastric muscle. ConclusionThe clinical relevance of these additional muscles primarily pertains to radiological evaluation and reconstructive surgical procedures in the submental region, as digastric muscle bellies serve as essential landmarks and potential targets. Describing anatomical variations is crucial for appropriate planning of interventions in this region.

Synaptic inputs to motor neurons underlying muscle coactivation for functionally different tasks have different spectral characteristics.

The central nervous system (CNS) may produce the same endpoint trajectory or torque profile with different muscle activation patterns. What differentiates these patterns is the presence of cocontraction, which does not contribute to effective torque generation but allows to modulate joints' mechanical stiffness. Although it has been suggested that the generation of force and the modulation of stiffness rely on separate pathways, a characterization of the differences between the synaptic inputs to motor neurons (MNs) underlying these tasks is still missing. In this study, participants coactivated the same pair of upper-limb muscles, i.e., the biceps brachii and the triceps brachii, to perform two functionally different tasks: limb stiffness modulation or endpoint force generation. Spike trains of MNs were identified through decomposition of high-density electromyograms (EMGs) collected from the two muscles. Cross-correlogram showed a higher synchronization between MNs recruited to modulate stiffness, whereas cross-muscle coherence analysis revealed peaks in the β-band, which is commonly ascribed to a cortical origin. These peaks did not appear during the coactivation for force generation, thus suggesting separate cortical inputs for stiffness modulation. Moreover, a within-muscle coherence analysis identified two subsets of MNs that were selectively recruited to generate force or regulate stiffness. This study is the first to highlight different characteristics, and probable different neural origins, of the synaptic inputs driving a pair of muscles under different functional conditions. We suggest that stiffness modulation is driven by cortical inputs that project to a separate set of MNs, supporting the existence of a separate pathway underlying the control of stiffness.NEW & NOTEWORTHY The characterization of the pathways underlying force generation or stiffness modulation are still unknown. In this study, we demonstrated that the common input to motor neurons of antagonist muscles shows a high-frequency component when muscles are coactivated to modulate stiffness but not to generate force. Our results provide novel insights on the neural strategies for the recruitment of multiple muscles by identifying specific spectral characteristics of the synaptic inputs underlying functionally different tasks.

Estimation of patient-reported outcome measures based on features of knee joint muscle co-activation in advanced knee osteoarthritis

Electromyography (EMG) is considered a potential predictive tool for the severity of knee osteoarthritis (OA) symptoms and functional outcomes. Patient-reported outcome measures (PROMs), such as the Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC) and visual analog scale (VAS), are used to determine the severity of knee OA. We aim to investigate muscle activation and co-contraction patterns through EMG from the lower extremity muscles of patients with advanced knee OA patients and evaluate the effectiveness of an interpretable machine-learning model to estimate the severity of knee OA according to the WOMAC (pain, stiffness, and physical function) and VAS using EMG gait features. To explore neuromuscular gait patterns with knee OA severity, EMG from rectus femoris, medial hamstring, tibialis anterior, and gastrocnemius muscles were recorded from 84 patients diagnosed with advanced knee OA during ground walking. Muscle activation patterns and co-activation indices were calculated over the gait cycle for pairs of medial and lateral muscles. We utilized machine-learning regression models to estimate the severity of knee OA symptoms according to the PROMs using muscle activity and co-contraction features. Additionally, we utilized the Shapley Additive Explanations (SHAP) to interpret the contribution of the EMG features to the regression model for estimation of knee OA severity according to WOMAC and VAS. Muscle activity and co-contraction patterns varied according to the functional limitations associated with knee OA severity according to VAS and WOMAC. The coefficient of determination of the cross-validated regression model is 0.85 for estimating WOMAC, 0.82 for pain, 0.85 for stiffness, and 0.85 for physical function, as well as VAS scores, utilizing the gait features. SHAP explanation revealed that greater co-contraction of lower extremity muscles during the weight acceptance and swing phases indicated more severe knee OA. The identified muscle co-activation patterns may be utilized as objective candidate outcomes to better understand the severity of knee OA.

Intermuscular coherence as an early biomarker for amyotrophic lateral sclerosis: The protocol for a prospective, multicenter study.

To describe the protocol of a prospective study to test the validity of intermuscular coherence (IMC) as a diagnostic tool and biomarker of upper motor neuron degeneration in amyotrophic lateral sclerosis (ALS). This is a multicenter, prospective study. IMC of muscle pairs in the upper and lower limbs is gathered in ∼650 subjects across three groups using surface electrodes and conventional electromyography (EMG) machines. The following subjects will be tested: 1) neurotypical controls; 2) patients with symptomatology suggestive for early ALS but not meeting probable or definite ALS by Awaji Criteria; 3) patients with a known ALS mimic. The recruitment period is between 3/31/2021 and 12/31/2025. Written consent will be sought from the subject or the subject's legally authorized representative during enrollment. The endpoints of this study include: 1) whether adding IMC to the Awaji ALS criteria improve its sensitivity in early ALS and can allow for diagnosis earlier; 2) constructing a database of IMC across different ages, genders, and ethnicities. This study may validate a new inexpensive, painless, and widely available tool for the diagnosis of ALS.

Realistic 3D human saccades generated by a 6-DOF biomimetic robotic eye under optimal control.

We recently developed a biomimetic robotic eye with six independent tendons, each controlled by their own rotatory motor, and with insertions on the eye ball that faithfully mimic the biomechanics of the human eye. We constructed an accurate physical computational model of this system, and learned to control its nonlinear dynamics by optimising a cost that penalised saccade inaccuracy, movement duration, and total energy expenditure of the motors. To speed up the calculations, the physical simulator was approximated by a recurrent neural network (NARX). We showed that the system can produce realistic eye movements that closely resemble human saccades in all directions: their nonlinear main-sequence dynamics (amplitude-peak eye velocity and duration relationships), cross-coupling of the horizontal and vertical movement components leading to approximately straight saccade trajectories, and the 3D kinematics that restrict 3D eye orientations to a plane (Listing's law). Interestingly, the control algorithm had organised the motors into appropriate agonist-antagonist muscle pairs, and the motor signals for the eye resembled the well-known pulse-step characteristics that have been reported for monkey motoneuronal activity. We here fully analyse the eye-movement properties produced by the computational model across the entire oculomotor range and the underlying control signals. We argue that our system may shed new light on the neural control signals and their couplings within the final neural pathways of the primate oculomotor system, and that an optimal control principle may account for a wide variety of oculomotor behaviours. The generated data are publicly available at https://data.ru.nl/collections/di/dcn/DSC_626870_0003_600.

Corticomuscular and intermuscular coherence as a function of age and walking balance difficulty

We determined beta-band intermuscular (IMC) and corticomuscular coherence (CMC) as a function of age and walking balance difficulty. Younger (n=14, 23y) and older individuals (n=19, 71y) walked 13 m overground, on a 6-cm-wide ribbon overground, and on a 6-cm-wide (5-cm-high) beam. Walking distance as a proxy for walking balance and speed were computed. CMC was estimated between electroencephalographic signal at Cz electrode and surface electromyographic signals of seven leg muscles, while IMC was calculated in four pairs of leg muscles, during stance and swing gait phases. With increasing difficulty, walking balance decreased in old individuals and speed decreased gradually independent of age. Beam walking increased IMC, while age increased IMC in proximal muscle pairs, and decreased IMC in distal muscle pairs. Age and difficulty increased CMC independent of gait phases. Concluding, CMC and IMC increased with walking balance difficulty and age, except for distal muscle pairs, which had lower IMC with age. These findings suggest an age-related increase in corticospinal involvement in the neural control of walking balance. Data AvailabilityThe datasets used in this study are available from the corresponding author upon reasonable request.

Vibro-tactile stimulation of the neck reduces pain in people with cervical dystonia: a proof-of-concept study.

Pain is a common non-motor symptom in patients with cervical dystonia (CD), severely impacting their quality of life. The pathophysiology of CD is incompletely understood but it involves altered processing of proprioceptive and pain signals. The purpose of this proof-of-concept study was to determine if vibro-tactile stimulation (VTS)-a non-invasive form of neuromodulation targeting the somatosensory system-can modulate neck pain in people with CD. In a multi-center study, 44 CD patients received VTS to sternocleidomastoid and/or trapezius muscles for up to 45min under 9 different stimulation conditions that either targeted a single or a pair of muscles. The primary outcome measure was a perceived pain score (PPS) rated by participants on a 100-point analogue scale. During VTS, 29/44 (66%) of participants experienced a reduction in PPS of at least 10% with 17/44 (39%) reporting a reduction in pain of 50% or higher. After VTS cessation, 57% of participants still reported a 10% or higher reduction in PPS. Effects were significant at the group level and persisted for up to 20min post-treatment. No distinct optimal stimulation profiles were identified for specific CD phenotypes. Clinical markers of disease severity or duration did not predict the degree of VTS-induced pain reduction. This proof-of-concept study demonstrates the potential of VTS as a new non-invasive therapeutic option for treating neck pain associated with CD. Further research needs to delineate optimal dosage and long-term effects.

Hardware-in-the-loop dynamic load emulation of robotic systems actuated by fluidic artificial muscles

Hardware-in-the-loop (HIL) testing is a popular control system testing method because it bridges the gap between modeling/simulation and experiments. Instead of designing a full hardware-based experiment to validate the results of a simulation, the plant hardware can be replaced with an emulator device that responds to exogenous inputs and effectively emulates the dynamic behavior of a system. This approach can be more cost-effective and modular, since the emulated plant system can be modeled in a simulation environment, implemented on a simplified piece of hardware and changed quickly without having to fabricate new parts. This paper develops the hardware and control scheme for a certain type of HIL device called a dynamic load emulator that consists of a 1-DOF linear hydraulic dynamometer equipped with in-line sensing to measure both its own position and the force exerted on it by a device-under-test. This measured force is passed to a real-time model of the emulated dynamic system. The model outputs the emulated system position, and a closed-loop controller is used to emulate this position. The emulator controller incorporates both model-based feedforward and standard feedback PI control. This paper characterizes the dynamometer-based dynamic load emulator and its controller, determining its hardware limitations and validating its capabilities when experiencing a force input from a linear spring with known parameters. Additionally, this paper demonstrates the ability of the emulator to represent the dynamics of a 1-DOF robotic joint when actuated by a pair of fluidic artificial muscles (FAMs). The primary contribution of this work is to allow for more comprehensive testing of FAM configurations, topologies, and controllers for a wide range of parameters, because the same hardware can be used to emulate multiple systems. As a result, this work will lead to more cost-effective, time-efficient, and energy-efficient designs of robotic systems and the FAMs used to actuate them.

Neuro-Inspired Motion Control of a Soft Myriapod Robot

Centipedes exploit soft structures to move efficiently in complex environments. These abilities have promoted scientists to develop centipede-like robots with soft robot technologies. In this paper, a centipede-like robot constructed by multiple body segments connected in series is designed. Each body segment features a pair of antagonistic artificial muscles and four electro-adhesive feet, which plays the role of the basic motion unit of the centipede-like robot and can be regarded as a soft myriapod robot. To accomplish the desired movement tasks for the soft myriapod robot, this paper proposes a neuro-inspired hierarchical motion control scheme according to the functions of the centipede brain. In the proposed control scheme, a mushroom-body-inspired controller with an error-based learning mechanism is adopted for the soft actuator motion control, and a central-complex-inspired deep reinforcement learning algorithm is designed for the robot motion selection. At last, the effectiveness of the proposed motion control scheme is verified via both numerical studies and experiments.

Coupled simulations and parameter inversion for neural system and electrophysiological muscle models

AbstractThe functioning of the neuromuscular system is an important factor for quality of life. With the aim of restoring neuromuscular function after limb amputation, novel clinical techniques such as the agonist‐antagonist myoneural interface (AMI) are being developed. In this technique, the residual muscles of an agonist‐antagonist pair are (re‐)connected via a tendon in order to restore their mechanical and neural interaction. Due to the complexity of the system, the AMI can substantially profit from in silico analysis, in particular to determine the prestretch of the residual muscles that is applied during the procedure and determines the range of motion of the residual muscle pair. We present our computational approach to facilitate this. We extend a detailed multi‐X model for single muscles to the AMI setup, that is, a two‐muscle‐one‐tendon system. The model considers subcellular processes as well as 3D muscle and tendon mechanics and is prepared for neural process simulation. It is solved on high performance computing systems. We present simulation results that show (i) the performance of our numerical coupling between muscles and tendon and (ii) a qualitatively correct dependence of the range of motion of muscles on their prestretch. Simultaneously, we pursue a Bayesian parameter inference approach to invert for parameters of interest. Our approach is independent of the underlying muscle model and represents a first step toward parameter optimization, for instance, finding the prestretch, to be applied during surgery, that maximizes the resulting range of motion. Since our multi‐X fine‐grained model is computationally expensive, we present inversion results for reduced Hill‐type models. Our numerical results for cases with known ground truth show the convergence and robustness of our approach.