Medial Gastrocnemius Myoelectric Control of a Robotic Ankle Exoskeleton

Kinnaird, Catherine R.; Ferris, Daniel P.

doi:10.1109/tnsre.2008.2008285

Cited by 60 publications

(68 citation statements)

References 28 publications

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“…We found that humans significantly reduced soleus recruitment when walking with a powered exoskeleton that acutely increased the gain between either soleus Kao et al 2010a) or gastrocnemius (Kinnaird and Ferris 2009) activation and the resulting plantar flexor torque. This resulted in total (human ϩ exoskeleton) ankle moments that were comparable to unassisted walking (Kao et al 2010a).…”

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confidence: 85%

“…This resulted in total (human ϩ exoskeleton) ankle moments that were comparable to unassisted walking (Kao et al 2010a). Subjects made both rapid adaptations to maintain ankle joint moments (Kao et al 2010b) and slower adaptations to minimize negative work produced by the exoskeleton Kinnaird and Ferris 2009). This research provides evidence that the human nervous system is proficient at making meaningful and independent adjustments to soleus and gastrocnemius activation profiles during gait in response to perturbations that disrupt the gain between a given efferent command and the resulting muscular output.…”

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confidence: 87%

“…We have previously employed robotic exoskeletons to investigate human adaptation to acute disruptions of the neuromuscular map of two plantar flexor muscles: soleus and gastrocnemius (Cain et al 2007;Gordon and Ferris 2007;Kao et al 2010a;Kinnaird and Ferris 2009). These two muscles typically display similar activation profiles during gait (Arsenault et al 1986).…”

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confidence: 99%

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Locomotor adaptation to a soleus EMG-controlled antagonistic exoskeleton

Gordon

Kinnaird

Ferris

2013

Journal of Neurophysiology

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Gordon KE, Kinnaird CR, Ferris DP. Locomotor adaptation to a soleus EMG-controlled antagonistic exoskeleton. J Neurophysiol 109: 1804-1814, 2013. First published January 9, 2013 doi:10.1152/jn.01128.2011Locomotor adaptation in humans is not well understood. To provide insight into the neural reorganization that occurs following a significant disruption to one's learned neuromuscular map relating a given motor command to its resulting muscular action, we tied the mechanical action of a robotic exoskeleton to the electromyography (EMG) profile of the soleus muscle during walking. The powered exoskeleton produced an ankle dorsiflexion torque proportional to soleus muscle recruitment thus limiting the soleus' plantar flexion torque capability. We hypothesized that neurologically intact subjects would alter muscle activation patterns in response to the antagonistic exoskeleton by decreasing soleus recruitment. Subjects practiced walking with the exoskeleton for two 30-min sessions. The initial response to the perturbation was to "fight" the resistive exoskeleton by increasing soleus activation. By the end of training, subjects had significantly reduced soleus recruitment resulting in a gait pattern with almost no ankle push-off. In addition, there was a trend for subjects to reduce gastrocnemius recruitment in proportion to the soleus even though only the soleus EMG was used to control the exoskeleton. The results from this study demonstrate the ability of the nervous system to recalibrate locomotor output in response to substantial changes in the mechanical output of the soleus muscle and associated sensory feedback. This study provides further evidence that the human locomotor system of intact individuals is highly flexible and able to adapt to achieve effective locomotion in response to a broad range of neuromuscular perturbations.

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confidence: 87%

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Locomotor adaptation to a soleus EMG-controlled antagonistic exoskeleton

Gordon

Kinnaird

Ferris

2013

Journal of Neurophysiology

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“…Ferris et al [6][7][8][9] built a pneumatically powered knee-ankle-foot orthosis, which was used to test this device's mechanical performance during human walking. Chu et al [10] proposed a hydraulically driven lowerlimb exoskeleton driving the hip, knee, and ankle joints to compensate for the strength and endurance of a human under a payload.…”

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confidence: 99%

A Neuromotor Device for Reducing Phantom Limb Pain in Individuals with Spinal Cord Injury

2016

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Abstract. Phantom Limb Pain is a disorder that can be experienced by individuals after amputation or spinal cord injury. In spinal cord injury the paralysis or paresis is often bilateral, thus limiting the application of apparent movement as a therapeutic model for phantom limb pain. This project aimed to develop a robotic rehabilitation device that replicated apparent movement to apply the same therapeutic principles with individuals with lower limb phantom pain that have bilateral paralysis of paresis. The proposed device achieved lower limb planar motion of the knee by a six-bar linkage of a single degree of freedom (DOF). It is driven by a linear actuator while the ankle motion is achieved by a gear motor, reaching an effective 70° range of motion for both joints. The system features closed loop control using feedback from surface electromyography sensors, limit switches and position sensors with an Arduino microcontroller as the control unit. This device will be used to further our understanding of the disorder and create opportunities for robot aided treatment for individuals with phantom limb pain as a result of spinal cord injury.

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“…Slightly less invasive are approaches based on surface electromyography (EMG) [6]. The user intentions can be correlated with his/her EMG data using either model-based approach [7] or model-free approach [8]. EMG was also used for the control of the HAL-5 exoskeleton device in prediction of the motion [9] and for adjusting the impedance around the knee joint [10].…”

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Effects of Robotic Knee Exoskeleton on Human Energy Expenditure

Gams

Petrič

Debevec

et al. 2013

IEEE Trans. Biomed. Eng.

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Abstract-A number of studies discuss the design and control of various exoskeleton mechanisms, yet relatively few address the effect on the energy expenditure of the user. In this paper, we discuss the effect of a performance augmenting exoskeleton on the metabolic cost of an able-bodied user/pilot during periodic squatting. We investigated whether an exoskeleton device will significantly reduce the metabolic cost and what is the influence of the chosen device control strategy. By measuring oxygen consumption, minute ventilation, heart rate, blood oxygenation, and muscle EMG during 5-min squatting series, at one squat every 2 s, we show the effects of using a prototype robotic knee exoskeleton under three different noninvasive control approaches: gravity compensation approach, position-based approach, and a novel oscillator-based approach. The latter proposes a novel control that ensures synchronization of the device and the user. Statistically significant decrease in physiological responses can be observed when using the robotic knee exoskeleton under gravity compensation and oscillator-based control. On the other hand, the effects of position-based control were not significant in all parameters although all approaches significantly reduced the energy expenditure during squatting.

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Medial Gastrocnemius Myoelectric Control of a Robotic Ankle Exoskeleton

Cited by 60 publications

References 28 publications

Locomotor adaptation to a soleus EMG-controlled antagonistic exoskeleton

Locomotor adaptation to a soleus EMG-controlled antagonistic exoskeleton

A Neuromotor Device for Reducing Phantom Limb Pain in Individuals with Spinal Cord Injury

Effects of Robotic Knee Exoskeleton on Human Energy Expenditure

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