AN OPTIMIZED EMG-DRIVEN MODEL FOR PATIENT TORQUE ESTIMATION APPLIED TO REHABILITATION ROBOTICS

Boris Sullcahuaman Jauregui¹; Guido Gomez Peña¹; Wilian Miranda dos Santos¹; Adriano A. G. Siqueira¹

¹ Universidade de Sao Paulo

doi:10.20906/CPS/COB-2015-1613

Resumo

This paper deals with EMG-driven modeling of patient torque estimation during robot-aided rehabilitation. Electromyographic (EMG) signals, taken from selected muscles acting during flexion and extension movements, are processed to get the muscles activations. A simplified and optimized model of muscles forces is used to compute the estimate of patient torque. The simplified model is justified since it will be implemented in an online adaptive control strategy of adjusting the robot assistance. The model optimization is performed by comparing the estimate torque with the torque generated by the inverse dynamics tool of the OpenSim software, considering a scaled musculoskeletal model. Experimental results obtained from a patient performing a set of movements using a variable impedance knee orthosis are presented.

Palavras-chave: EMG-driven; Rehabilitation; Optimization; Musculoskeletal model