TY - GEN
T1 - A Comprehensive Framework for the Modelling of Cartesian Force Output in Human Limbs
AU - Sierotowicz, Marek
AU - Lotti, Nicola
AU - Rupp, Rudiger
AU - Masia, Lorenzo
AU - Castellini, Claudio
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Neuromuscular functional electrical stimulation represents a valid technique for functional rehabilitation or, in the form of a neuroprosthesis, for the assistance of neurological patients. However, the selected stimulation of single muscles through surface electrodes remains challenging particularly for the upper extremity. In this paper, we present the MyoCeption, a comprehensive setup, which enables intuitive modeling of the user's musculoskeletal system, as well as proportional stimulation of the muscles with 16-bit resolution through up to 10 channels. The system can be used to provide open-loop force control, which, if coupled with an adequate body tracking system, can be used to implement an impedance control where the control loop is closed around the body posture. The system is completely self-contained and can be used in a wide array of scenarios, from rehabilitation to VR to teleoperation. Here, the MyoCeption's control environment has been experimentally validated through comparison with a third-party simulation suite. The results indicate that the musculoskeletal model used for the MyoCeption provides muscle geometries that are qualitatively similar to those computed in the baseline model.
AB - Neuromuscular functional electrical stimulation represents a valid technique for functional rehabilitation or, in the form of a neuroprosthesis, for the assistance of neurological patients. However, the selected stimulation of single muscles through surface electrodes remains challenging particularly for the upper extremity. In this paper, we present the MyoCeption, a comprehensive setup, which enables intuitive modeling of the user's musculoskeletal system, as well as proportional stimulation of the muscles with 16-bit resolution through up to 10 channels. The system can be used to provide open-loop force control, which, if coupled with an adequate body tracking system, can be used to implement an impedance control where the control loop is closed around the body posture. The system is completely self-contained and can be used in a wide array of scenarios, from rehabilitation to VR to teleoperation. Here, the MyoCeption's control environment has been experimentally validated through comparison with a third-party simulation suite. The results indicate that the musculoskeletal model used for the MyoCeption provides muscle geometries that are qualitatively similar to those computed in the baseline model.
UR - https://www.scopus.com/pages/publications/85138960857
U2 - 10.1109/ICORR55369.2022.9896547
DO - 10.1109/ICORR55369.2022.9896547
M3 - Conference contribution
C2 - 36176096
AN - SCOPUS:85138960857
T3 - IEEE International Conference on Rehabilitation Robotics
BT - 2022 International Conference on Rehabilitation Robotics, ICORR 2022
PB - IEEE Computer Society
T2 - 2022 International Conference on Rehabilitation Robotics, ICORR 2022
Y2 - 25 July 2022 through 29 July 2022
ER -