Assessing workload in using electromyography (EMG)-based prostheses.

Using prosthetic devices requires a substantial cognitive workload. This study investigated classification models for assessing cognitive workload in electromyography (EMG)-based prosthetic devices with various types of input features including eye-tracking measures, task performance, and cognitive performance model (CPM) outcomes. Features selection algorithm, hyperparameter tuning with grid search, and k-fold cross-validation were applied to select the most important features and find the optimal models. Classification accuracy, the area under the receiver operation characteristic curve (AUC), precision, recall, and F1 scores were calculated to compare the models' performance. The findings suggested that task performance measures, pupillometry data, and CPM outcomes, combined with the naïve bayes (NB) and random forest (RF) algorithms, are most promising for classifying cognitive workload. The proposed algorithms can help manufacturers/clinicians predict the cognitive workload of future EMG-based prosthetic devices in early design phases.Practitioner summary: This study investigated the use of machine learning algorithms for classifying the cognitive workload of prosthetic devices. The findings suggested that the models could predict workload with high accuracy and low computational cost and could be used in assessing the usability of prosthetic devices in the early phases of the design process.Abbreviations: 3d: 3 dimensional; ADL: Activities for daily living; ANN: Artificial neural network; AUC: Area under the receiver operation characteristic curve; CC: Continuous control; CPM: Cognitive performance model; CPM-GOMS: Cognitive-Perceptual-Motor GOMS; CRT: Clothespin relocation test; CV: Cross validation; CW: Cognitive workload; DC: Direct control; DOF: Degrees of freedom; ECRL: Extensor carpi radialis longus; ED: Extensor digitorum; EEG: Electroencephalogram; EMG: Electromyography; FCR: Flexor carpi radialis; FD: Flexor digitorum; GOMS: Goals, Operations, Methods, and Selection Rules; LDA: Linear discriminant analysis; MAV: Mean absolute value; MCP: Metacarpophalangeal; ML: Machine learning; NASA-TLX: NASA task load index; NB: Naïve Bayes; PCPS: Percent change in pupil size; PPT: Purdue Pegboard Test; PR: Pattern recognition; PROS-TLX: Prosthesis task load index; RF: Random forest; RFE: Recursive feature selection; SHAP: Southampton hand assessment protocol; SFS: Sequential feature selection; SVC: Support vector classifier.

Using Person-Specific Muscle Fatigue Characteristics to Optimally Allocate Control in a Hybrid Exoskeleton - Preliminary Results.

Currently controllers that dynamically modulate functional electrical stimulation (FES) and a powered exoskeleton at the same time during standing-up movements are largely unavailable. In this paper, an optimal shared control of FES and a powered exoskeleton is designed to perform sitting to standing (STS) movements with a hybrid exoskeleton. A hierarchical control design is proposed to overcome the difficulties associated with developing an optimal real-time solution for the highly nonlinear and uncertain STS control model with multiple degrees of freedom. A higher-level robust nonlinear control design is derived to exponentially track a time-invariant desired STS movement profile. Then, a lower-level optimal control allocator is designed to distribute control between FES and the knee electric motors. The allocator uses a person's muscle fatigue and recovery dynamics to determine an optimal ratio between the FES-elicited knee torque and the exoskeleton assist. Experiments were performed on human participants, two persons without disability and one person with spinal cord injury (SCI), to validate the feedback controller and the optimal torque allocator. The muscles of the participant with SCI did not actively contract to FES, so he was only tested with the powered exoskeleton controller. The experimental results show that the proposed hierarchical control design is a promising method to effect shared control in a hybrid exoskeleton.

Model Predictive Control of a Feedback-Linearized Hybrid Neuroprosthetic System With a Barrier Penalty.

Functional electrical stimulation (FES) is prescribed as a treatment to restore motor function in individuals with neurological impairments. However, the rapid onset of FES-induced muscle fatigue significantly limits its duration of use and limb movement quality. In this paper, an electric motor-assist is proposed to alleviate the fatigue effects by sharing work load with FES. A model predictive control (MPC) method is used to allocate control inputs to FES and the electric motor. To reduce the computational load, the dynamics is feedback linearized so that the nominal model inside the MPC method becomes linear. The state variables: the angular position and the muscle fatigue are still preserved in the transformed state space to keep the optimization meaningful. Because after feedback linearization the original linear input constraints may become nonlinear and state-dependent, a barrier cost function is used to overcome this issue. The simulation results show a satisfactory control performance and a reduction in the computation due to the linearization.