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Muscle fatigue tracking based on stimulus evoked EMG and adaptive torque prediction
- Source :
- ICRA, ICRA: International Conference on Robotics and Automation, ICRA: International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.1433-1438
- Publication Year :
- 2011
- Publisher :
- IEEE, 2011.
-
Abstract
- International audience; Functional electrical stimulation (FES) is effective to restore movement in spinal cord injured (SCI) subjects. Unfortunately, muscle fatigue constrains the application of FES so that output torque feedback is interesting for fatigue compensation. Whereas, inadequacy of torque sensors is another challenge for FES control. Torque estimation is thereby essential in fatigue tracking task for practical FES employment. In this work, the Hammstein cascade with electromyography (EMG) as input is applied to model the myoelectrical mechanical behavior of the stimulated muscle. Kalman filter with forgetting factor is presented to estimate the muscle model and track fatigue. Fatigue inducing protocol was conducted on three SCI subjects through surface electrical stimulation. Assessment in simulation and with experimental data reveals that the muscle model properly fits the muscle behavior well. Moreover, the time-varying parameters tracking performance in simulation is efficient such that real time tracking is feasible with Kalman filter. The fatigue tracking with experimental data further demonstrates that the proposed method is suitable for fatigue tracking as well as adaptive torque prediction at different prediction horizons.
- Subjects :
- Engineering
0206 medical engineering
02 engineering and technology
Electromyography
Stimulus (physiology)
030218 nuclear medicine & medical imaging
03 medical and health sciences
0302 clinical medicine
Control theory
medicine
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Functional electrical stimulation
Torque
medicine.diagnostic_test
Muscle fatigue
business.industry
[INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO]
Biomechanics
Control engineering
Kalman filter
020601 biomedical engineering
FES
muscle fatigue
business
Real time tracking
Electromyograph (EMG)
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2011 IEEE International Conference on Robotics and Automation
- Accession number :
- edsair.doi.dedup.....e803f2d338db50896b3784887431acf5