Real-Time-Capable Muscle Force Estimation for Monitoring Robotic Rehabilitation Therapy in the Intensive Care Unit

In this paper, a method is proposed to enable real-time monitoring of muscle forces during robotic rehabilitation therapy in the ICU. This method is solely based on sensor information provided by the rehabilitation robot. In current clinical practice, monitoring primarily takes place in the later stages of rehabilitation, but it would also be highly beneficial during early stages. Musculoskeletal models have large, mostly unrealized potential to support and improve patient monitoring. The method presented in this paper is based on a state-of-the-art muscle-tendon path model, which is applied to the use case of the robotic rehabilitation device VEMOTION. The muscle force estimation is validated against surface electromyography measurements of lower limb muscles from 12 healthy volunteers The results show an overall correlation of R = 0.70 0.25 for the single-joint muscle m. iliopsoas, which has a ±major contribution to hip flexion. Given this correlation, the proposed model could be used for real-time monitoring of active patient participation.