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A Comprehensive Framework for the Modelling of Cartesian Force Output in Human Limbs

Sierotowicz, Marek and Lotti, Nicola and Rupp, Rüdiger and Masia, Lorenzo and Castellini, Claudio (2022) A Comprehensive Framework for the Modelling of Cartesian Force Output in Human Limbs. In: 2022 International Conference on Rehabilitation Robotics, ICORR 2022, pp. 1-6. IEEE. 2022 International Conference on Rehabilitation Robotics (ICORR), 2022-07-25 - 2022-07-29, Rotterdam, Niederlande. doi: 10.1109/ICORR55369.2022.9896547. ISBN 978-166548829-7. ISSN 1945-7898.

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Official URL: https://ieeexplore.ieee.org/document/9896547


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.

Item URL in elib:https://elib.dlr.de/192928/
Document Type:Conference or Workshop Item (Poster)
Title:A Comprehensive Framework for the Modelling of Cartesian Force Output in Human Limbs
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sierotowicz, MarekUNSPECIFIEDhttps://orcid.org/0000-0001-8040-6438UNSPECIFIED
Lotti, NicolaUniversity of HeidelbergUNSPECIFIEDUNSPECIFIED
Rupp, RüdigerHeidelberg University HospitalUNSPECIFIEDUNSPECIFIED
Masia, LorenzoUniversity of HeidelbergUNSPECIFIEDUNSPECIFIED
Castellini, ClaudioUNSPECIFIEDhttps://orcid.org/0000-0002-7346-2180UNSPECIFIED
Date:28 September 2022
Journal or Publication Title:2022 International Conference on Rehabilitation Robotics, ICORR 2022
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-6
Keywords:biocontrol, biomechanics, biomedical electrodes, electromyography, force control, medical control systems, muscle, neuromuscular stimulation, neurophysiology, patient rehabilitation, prosthetics, telerobotics
Event Title:2022 International Conference on Rehabilitation Robotics (ICORR)
Event Location:Rotterdam, Niederlande
Event Type:international Conference
Event Start Date:25 July 2022
Event End Date:29 July 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Terrestrial Assistance Robotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Sierotowicz, Marek
Deposited On:09 Jan 2023 17:07
Last Modified:24 Apr 2024 20:54

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