Human-exoskeleton interaction portrait.

Human-robot physical interaction contains crucial information for optimizing user experience, enhancing robot performance, and objectively assessing user adaptation. This study introduces a new method to evaluate human-robot interaction and co-adaptation in lower limb exoskeletons by analyzing muscle activity and interaction torque as a two-dimensional random variable. We introduce the interaction portrait (IP), which visualizes this variable's distribution in polar coordinates. We applied IP to compare a recently developed hybrid torque controller (HTC) based on kinematic state feedback and a novel adaptive model-based torque controller (AMTC) with online learning, proposed herein, against a time-based controller (TBC) during treadmill walking at varying speeds. Compared to TBC, both HTC and AMTC significantly lower users' normalized oxygen uptake, suggesting enhanced user-exoskeleton coordination. IP analysis reveals that this improvement stems from two distinct co-adaptation strategies, unidentifiable by traditional muscle activity or interaction torque analyses alone. HTC encourages users to yield control to the exoskeleton, decreasing overall muscular effort but increasing interaction torque, as the exoskeleton compensates for user dynamics. Conversely, AMTC promotes user engagement through increased muscular effort and reduces interaction torques, aligning it more closely with rehabilitation and gait training applications. IP phase evolution provides insight into each user's interaction strategy formation, showcasing IP analysis's potential in comparing and designing novel controllers to optimize human-robot interaction in wearable robots.

Shaping corticospinal pathways in virtual reality: effects of task complexity and sensory feedback during mirror therapy in neurologically intact individuals.

BACKGROUND: Restoration of limb function for individuals with unilateral weakness typically requires volitional muscle control, which is often not present for individuals with severe impairment. Mirror therapy-interventions using a mirror box to reflect the less-impaired limb onto the more-impaired limb-can facilitate corticospinal excitability, leading to enhanced recovery in severely impaired clinical populations. However, the mirror box applies limitations on mirror therapy, namely that all movements appear bilateral and are confined to a small area, impeding integration of complex activities and multisensory feedback (e.g., visuo-tactile stimulation). These limitations can be addressed with virtual reality, but the resulting effect on corticospinal excitability is unclear. OBJECTIVE: Examine how virtual reality-based unilateral mirroring, complex activities during mirroring, and visuo-tactile stimulation prior to mirroring affect corticospinal excitability. MATERIALS AND METHODS: Participants with no known neurological conditions (n = 17) donned a virtual reality system (NeuRRoVR) that displayed a first-person perspective of a virtual avatar that matched their motions. Transcranial magnetic stimulation-induced motor evoked potentials in the nondominant hand muscles were used to evaluate corticospinal excitability in four conditions: resting, mirroring, mirroring with prior visuo-tactile stimulation (mirroring + TACT), and control. During mirroring, the movements of each participant's dominant limb were reflected onto the nondominant limb of the virtual avatar, and the avatar's dominant limb was kept immobile (i.e., unilateral mirroring). The mirroring + TACT condition was the same as the mirroring condition, except that mirroring was preceded by visuo-tactile stimulation of the nondominant limb. During the control condition, unilateral mirroring was disabled. During all conditions, participants performed simple (flex/extend fingers) and complex (stack virtual blocks) activities. RESULTS: We found that unilateral mirroring increased corticospinal excitability compared to no mirroring (p < 0.001), complex activities increased excitability compared to simple activities during mirroring (p < 0.001), and visuo-tactile stimulation prior to mirroring decreased excitability (p = 0.032). We also found that these features did not interact with each other. DISCUSSIONS: The findings of this study shed light onto the neurological mechanisms of mirror therapy and demonstrate the unique ways in which virtual reality can augment mirror therapy. The findings have important implications for rehabilitation for design of virtual reality systems for clinical populations.

Control limitations in the null-space of the wrist muscle system.

The redundancy present within the musculoskeletal system may offer a non-invasive source of signals for movement augmentation, where the set of muscle activations that do not produce force/torque (muscle-to-force null-space) could be controlled simultaneously to the natural limbs. Here, we investigated the viability of extracting movement augmentation control signals from the muscles of the wrist complex. Our study assessed (i) if controlled variation of the muscle activation patterns in the wrist joint's null-space is possible; and (ii) whether force and null-space cursor targets could be reached concurrently. During the null-space target reaching condition, participants used muscle-to-force null-space muscle activation to move their cursor towards a displayed target while minimising the exerted force as visualised through the cursor's size. Initial targets were positioned to require natural co-contraction in the null-space and if participants showed a consistent ability to reach for their current target, they would rotate 5 ∘ incrementally to generate muscle activation patterns further away from their natural co-contraction. In contrast, during the concurrent target reaching condition participants were required to match a target position and size, where their cursor position was instead controlled by their exerted flexion-extension and radial-ulnar deviation, while its size was changed by their natural co-contraction magnitude. The results collected from 10 participants suggest that while there was variation in each participant's co-contraction behaviour, most did not possess the ability to control this variation for muscle-to-force null-space virtual reaching. In contrast, participants did show a direction and target size dependent ability to vary isometric force and co-contraction activity concurrently. Our results indicate the limitations of using the muscle-to-force null-space activity of joints with a low level of redundancy as a possible command signal for movement augmentation.

Characteristics of walking techniques with different pelvic height and pelvic rotation: effect on muscle activation and energy consumption.

Purpose: Previous studies have proven that modifications in the natural walking technique alter muscle activation and energy consumption. This research aimed to determine the differences in muscle activation, energy consumption, kinematic characteristics, perceived muscular exertion and perceived cardio-respiratory fatigue between natural and modified walking techniques with altered pelvic height and rotation. Methods: Nine physically active, non-injured males walked on a treadmill. Modified walking techniques assumed maintenance of constant pelvic height and application of maximal pelvic rotation. Walking speed was subtransit - 0.4 km/h less than the transit. Sampled variables were: average normalized maximal activation during contact and swing phase relativized to maximal voluntary activation, average submaximal oxygen consumption relativized to body mass and subtransit speed, average step length and frequency, rating of perceived muscular exertion and perceived cardio-respiratory fatigue. Muscle activation, energy consumption and kinematic characteristics were assessed throughout each walking session. Perceived muscular exertion and perceived cardio-respiratory fatigue were evaluated post-session. Electromyographic activity was assessed for rectus femoris, gluteus maximus, vastus medialis, biceps femoris, tibialis anterior and gastrocnemius lateralis. Results: The most significant changes in muscle activation were observed during the contact phase. A decrease in pelvic height increased muscle activation of rectus femoris, vastus medialis and gastrocnemius lateralis. An increase in pelvic rotation increased muscle activation of all monitored muscles except for gluteus maximus. Both modifications increased energy consumption, perceived muscular exertion and perceived cardio-respiratory fatigue, and altered kinematic characteristics. Conclusions: Modifications in pelvic height and rotation at the same walking speed alter muscle activation, energy consumption, kinematic characteristics, perceived exertion and fatigue.

Comparative analysis of biomechanical characteristics between the new Tai Chi elastic band exercise for opening and closing movement and elastic band resistance training for the reverse fly movement.

Background: The objective of this study was to compare and analyze the representative opening and closing movement of Tai Chi elastic band exercise with the reverse fly movement of elastic band resistance training. The aim was to explore the biomechanical differences between the two exercises and provide theoretical support for the application of Tai Chi elastic band exercise in health intervention. Methods: A total of 26 male participants were recruited and randomly divided into two groups in a 1:1 ratio. There were 13 participants in each Tai Chi elastic band exercise group and elastic band resistance training group. Both groups of participants used an elastic band to perform movement in the experiment. Experimental data were collected using the Vicon infrared motion capture system and Delsys surface EMG system. The AnyBody software was utilized to simulate the creation of a musculoskeletal model for both exercises. Result: The study found that the Tai Chi elastic band exercise group exhibited smaller horizontal abduction angle and flexion angle of the shoulder joint, as well as normalized RMS of the anterior deltoid and triceps brachii, compared to the elastic band resistance training group (P < 0.01); the Tai Chi elastic band exercise group exhibited greater elbow flexion angle, elbow flexion torque, and muscle strength of the infraspinatus, coracobrachialis, biceps brachii, brachialis and brachioradialis, compared to the elastic band resistance training group (P < 0.01); the Tai Chi elastic band exercise group exhibited smaller horizontal abduction angular velocity of the shoulder joint and a lower normalized RMS of the posterior deltoid, compared to the elastic band resistance training group (P < 0.05). Conclusion: (1) The opening and closing movement of Tai Chi elastic band exercise is characterized by a large elbow flexion angle, a small shoulder joint horizontal angle and flexion angle, and a slow and uniform speed of movement. The reverse fly movement of elastic band resistance training is characterized by a large horizontal abduction angle of the shoulder joint, a large flexion angle of the shoulder joint, a small flexion angle of the elbow joint, and a fast and uneven speed. (2) The opening and closing movement exerts a greater torque on the elbow flexion, while the reverse fly movement exerts a greater torque on the shoulder joint horizontal abduction and external rotation. (3) The opening and closing movement provide greater stimulation to the infraspinatus, coracobrachialis, and elbow flexor, while the reverse fly movement provides greater stimulation to the posterior deltoid, anterior deltoid, subscapularis, and elbow extensor. In summary, the variation in joint angle, joint angular velocity, and hand position could be the factor contributing to the differences in joint torque and muscle activity between the opening and closing movement of Tai Chi elastic band exercise and the reverse fly movement of elastic band resistance training.

When preparation pays off.

Computational principles shed light on why movement is preceded by preparatory activity within the neural networks that control muscles.

Modelling human postural stability and muscle activation augmented by a supernumerary robotic tail.

Wearable robots have promising characteristics for human augmentation; however, the the design and specification stage needs to consider biomechanical impact. In this work, musculoskeletal software is used to assess the biomechanical implications of having a two-degrees-of-freedom supernumerary robotic tail mounted posterior to the human trunk. Forward and backward tilting motions were assessed to determine the optimal design specification. Specifically; the key criteria utilised included the centre of pressure, the dynamic wrench exerted by the tail onto the human body and a global muscle activation index. Overall, it was found that use of a supernumerary tail reduced lower limb muscle activation in quiet stance. Furthermore, the optimal design specification required a trade-off between the geometric and inertial characteristics, and the amount of muscle assistance provided by the tail to facilitate safe physical Human-Robot interaction.

[Diet to maintain adequate muscle and bone health]. / Alimentación para mantener una adecuada salud muscular y ósea.

Introduction: Introduction: musculoskeletal health has become of increasing interest due to the ageing of the population and the increase in the prevalence of associated diseases. Objective: analyze scientific evidence on the role of nutrition and diet in maintaining muscle and bone health and preventing related diseases. Methods: review of the scientific literature on nutrition and diet in maintaining muscle and bone health. Results and discussion: dietary components such as protein, calcium, magnesium, vitamin D, C, K, B12, among others, have been positively associated with the maintenance of muscle and bone. The Mediterranean diet could slow the onset of sarcopenia and osteoporosis. Conclusion: nutrition is crucial for muscle and bone health.

Introducción: Introducción: la salud musculoesquelética ha adquirido un interés creciente debido al envejecimiento poblacional y al aumento de enfermedades asociadas. Objetivo: analizar la evidencia sobre el papel de la nutrición y la dieta en la salud muscular y ósea y la prevención de enfermedades asociadas. Métodos: revisión de la literatura científica sobre la nutrición y la dieta en el mantenimiento de una adecuada salud muscular y ósea. Resultados y discusión: componentes dietéticos como las proteínas, el calcio, el magnesio y las vitaminas D, C, K, B12, entre otros, se han asociado positivamente con el mantenimiento de la salud muscular y ósea. La dieta mediterránea podría ralentizar la aparición de la sarcopenia y la osteoporosis. Conclusión: la nutrición es crucial para la salud muscular y ósea.

Assessment of alternative metrics in the application of infrared thermography to detect muscle damage in sports.

Objective.The association between muscle damage and skin temperature is controversial. We hypothesize that including metrics that are more sensitive to individual responses by considering variability and regions representative of higher temperature could influence skin temperature outcomes. Here, the objective of the study was to determine whether using alternative metrics (TMAX, entropy, and pixelgraphy) leads to different results than mean, maximum, minimum, and standard deviation (SD) skin temperature when addressing muscle damage using infrared thermography.Approach.Thermal images from four previous investigations measuring skin temperature before and after muscle damage in the anterior thigh and the posterior lower leg were used. The TMAX, entropy, and pixelgraphy (percentage of pixels above 33 °C) metrics were applied.Main results.On 48 h after running a marathon or half-marathon, no differences were found in skin temperature when applying any metric. Mean, minimum, maximum, TMAX, and pixelgraphy were lower 48 h after than at basal condition following quadriceps muscle damage (p< 0.05). Maximum skin temperature and pixelgraphy were lower 48 h after than the basal condition following muscle damage to the triceps sural (p< 0.05). Overall, TMAX strongly correlated with mean (r= 0.85) and maximum temperatures (r= 0.99) and moderately with minimum (r= 0.66) and pixelgraphy parameter (r= 0.64). Entropy strongly correlates with SD (r= 0.94) and inversely moderately with minimum temperature (r= -0.53). The pixelgraphy moderately correlated with mean (r= 0.68), maximum (r= 0.62), minimum (r= 0.58), and TMAX (r= 0.64).Significance.Using alternative metrics does not change skin temperature outcomes following muscle damage of lower extremity muscle groups.

Changes in mechanical properties at the muscle level could be detected by Nakagami imaging during in-vivo fixed-end contractions.

In this study, we investigated the capability of the Nakagami transformation to detect changes in vastus lateralis muscle-tendon stiffness (k) during dynamic (and intense) contractions. k was evaluated in eleven healthy males using the gold-standard method (a combination of ultrasound and dynamometric measurements) during maximal and sub-maximal voluntary fixed-end contractions of the knee extensors (20, 40, 60, 80, and 100% of maximum voluntary force), while Nakagami parameters were analysed using the Nakagami transformation during the same contractions. Muscle-belly behaviour was investigated by means of B-mode ultrasound analysis, while Nakagami parameters were obtained in post-processing using radiofrequency data. k was calculated as the slope of the force-muscle-belly elongation relationship. Three contractions at each intensity were performed to calculate the intra-trial reliability and the coefficient of variation (CV) of the Nakagami parameters. At all contraction intensities, high values of intra-trial reliability (range: 0.92-0.96) and low CV (<9%) were observed. k and Nakagami parameters increased as a function of contraction intensity, and significant positive correlations were observed between these variables. These data suggest that changes in mechanical properties (e.g., stiffness) at the muscle level could be investigated by means of Nakagami parameters.

Novel comprehensive analysis of skilled reaching and grasping behavior in adult rats.

BACKGROUND: Reaching and grasping (R&G) in rats is commonly used as an outcome measure to investigate the effectiveness of rehabilitation or treatment strategies to recover forelimb function post spinal cord injury. Kinematic analysis has been limited to the wrist and digit movements. Kinematic profiles of the more proximal body segments that play an equally crucial role in successfully executing the task remain unexplored. Additionally, understanding of different forelimb muscle activity, their interactions, and their correlation with the kinematics of R&G movement is scarce. NEW METHOD: In this work, novel methodologies to comprehensively assess and quantify the 3D kinematics of the proximal and distal forelimb joints along with associated muscle activity during R&G movements in adult rats are developed and discussed. RESULTS: Our data show that different phases of R&G identified using the novel kinematic and EMG-based approach correlate with the well-established descriptors of R&G stages derived from the Whishaw scoring system. Additionally, the developed methodology allows describing the temporal activity of individual muscles and associated mechanical and physiological properties during different phases of the motor task. COMPARISON WITH EXISTING METHOD(S): R&G phases and their sub-components are identified and quantified using the developed kinematic and EMG-based approach. Importantly, the identified R&G phases closely match the well-established qualitative descriptors of the R&G task proposed by Whishaw and colleagues. CONCLUSIONS: The present work provides an in-depth objective analysis of kinematics and EMG activity of R&G behavior, paving the way to a standardized approach to assessing this critical rodent motor function in future studies.

Electrohydraulic musculoskeletal robotic leg for agile, adaptive, yet energy-efficient locomotion.

Robotic locomotion in unstructured terrain demands an agile, adaptive, and energy-efficient architecture. To traverse such terrains, legged robots use rigid electromagnetic motors and sensorized drivetrains to adapt to the environment actively. These systems struggle to compete with animals that excel through their agile and effortless motion in natural environments. We propose a bio-inspired musculoskeletal leg architecture driven by antagonistic pairs of electrohydraulic artificial muscles. Our leg is mounted on a boom arm and can adaptively hop on varying terrain in an energy-efficient yet agile manner. It can also detect obstacles through capacitive self-sensing. The leg performs powerful and agile gait motions beyond 5 Hz and high jumps up to 40 % of the leg height. Our leg's tunable stiffness and inherent adaptability allow it to hop over grass, sand, gravel, pebbles, and large rocks using only open-loop force control. The electrohydraulic leg features a low cost of transport (0.73), and while squatting, it consumes only a fraction of the energy (1.2 %) compared to its conventional electromagnetic counterpart. Its agile, adaptive, and energy-efficient properties would open a roadmap toward a new class of musculoskeletal robots for versatile locomotion and operation in unstructured natural environments.

A three filament mechanistic model of musculotendon force and impedance.

The force developed by actively lengthened muscle depends on different structures across different scales of lengthening. For small perturbations, the active response of muscle is well captured by a linear-time-invariant (LTI) system: a stiff spring in parallel with a light damper. The force response of muscle to longer stretches is better represented by a compliant spring that can fix its end when activated. Experimental work has shown that the stiffness and damping (impedance) of muscle in response to small perturbations is of fundamental importance to motor learning and mechanical stability, while the huge forces developed during long active stretches are critical for simulating and predicting injury. Outside of motor learning and injury, muscle is actively lengthened as a part of nearly all terrestrial locomotion. Despite the functional importance of impedance and active lengthening, no single muscle model has all these mechanical properties. In this work, we present the viscoelastic-crossbridge active-titin (VEXAT) model that can replicate the response of muscle to length changes great and small. To evaluate the VEXAT model, we compare its response to biological muscle by simulating experiments that measure the impedance of muscle, and the forces developed during long active stretches. In addition, we have also compared the responses of the VEXAT model to a popular Hill-type muscle model. The VEXAT model more accurately captures the impedance of biological muscle and its responses to long active stretches than a Hill-type model and can still reproduce the force-velocity and force-length relations of muscle. While the comparison between the VEXAT model and biological muscle is favorable, there are some phenomena that can be improved: the low frequency phase response of the model, and a mechanism to support passive force enhancement.

Restoration of grasping in an upper limb amputee using the myokinetic prosthesis with implanted magnets.

The loss of a hand disrupts the sophisticated neural pathways between the brain and the hand, severely affecting the level of independence of the patient and the ability to carry out daily work and social activities. Recent years have witnessed a rapid evolution of surgical techniques and technologies aimed at restoring dexterous motor functions akin to those of the human hand through bionic solutions, mainly relying on probing of electrical signals from the residual nerves and muscles. Here, we report the clinical implementation of an interface aimed at achieving this goal by exploiting muscle deformation, sensed through passive magnetic implants: the myokinetic interface. One participant with a transradial amputation received an implantation of six permanent magnets in three muscles of the residual limb. A truly self-contained myokinetic prosthetic arm embedding all hardware components and the battery within the prosthetic socket was developed. By retrieving muscle deformation caused by voluntary contraction through magnet localization, we were able to control in real time a dexterous robotic hand following both a direct control strategy and a pattern recognition approach. In just 6 weeks, the participant successfully completed a series of functional tests, achieving scores similar to those achieved when using myoelectric controllers, a standard-of-care solution, with comparable physical and mental workloads. This experience raised conceptual and technical limits of the interface, which nevertheless pave the way for further investigations in a partially unexplored field. This study also demonstrates a viable possibility for intuitively interfacing humans with robotic technologies.

Influence of whole-body vibration and drop jump on the range of motion in the ankle joint and running parameters-A randomized crossover study.

BACKGROUND AND PURPOSE: Warm-up (WU) is a commonly practiced technique aimed at preparing athletes for physical activity. Although coaches and athletes consider WU essential, there is still an ongoing debate about its effectiveness. This might be due to the fact that WU procedures often rely on experiences rather than scientific research. During WU, athletes may pursue intermediate goals such as ensuring proper ranges of motion in joints, which seem crucial particularly for runners' ankle joints. Hence, the aim of this study was to evaluate influence of whole-body vibration (WBV), drop jump (DJ), and a combination of both (WBV + DJ) in terms of ankle dorsiflexion and running parameters among recreational runners. METHODS: Sixteen runners performed as a WU: five sets of 30 s calf raises without WBV (CTRL), five sets of 30 s calf raises during WBV, five sets of six DJ, five sets of 30 s calf raises during WBV followed by 6 DJ. Range of motion (ROM) of the ankle joint was measured in a prone position using an inclinometer for the soleus and gastrocnemius muscles, separately. Measurements were conducted before and after WU, and after a 3000 m run. RESULTS: There was no interaction for time and WU for left (p = 0.926) and right (p = 0.738) soleus muscle as well as for left (p = 0.748) and right (p = 0.197) gastrocnemius muscles. No difference (p = 0.914) for the running time was found. DISCUSSION: WBV, drop jumps, or a combination of both did not affect ankle dorsiflexion and running time.

Neuromuscular adaptations to perturbation-based balance training using treadmill belt accelerations do not transfer to an obstacle trip in older people: A cross-over randomised controlled trial.

BACKGROUND: This study examined (i) adaptations in muscle activity following perturbation-based balance training (PBT) using treadmill belt-accelerations or PBT using walkway trips and (ii) whether adaptations during treadmill PBT transfer to a walkway trip. METHODS: Thirty-eight older people (65+ years) undertook two PBT sessions, including 11 treadmill belt-accelerations and 11 walkway trips. Surface electromyography (EMG) was measured bilaterally on the rectus femoris (RF), tibialis anterior (TA), semitendinosus (ST) and gastrocnemius medial head (GM) during the first (T1) and eleventh (T11) perturbations. Adaptations (within-subjects - 1st vs 11th perturbations for treadmill and walkway PBT) and their transfer (between-subjects - 1st walkway trip after treadmill PBT vs 1st walkway trip with no prior training) effects were examined for the EMG parameters. RESULTS: Treadmill PBT reduced post-perturbation peak muscle activation magnitude (left RF, TA, ST, right RF, ST, GM), onset latency (right TA), time to peak (right RF) and co-contraction index (knee muscles) (P < 0.05). Walkway PBT reduced post-trip onset latencies (right TA, ST), peak magnitude (left ST, right GM), time to peak (right RF, ST) and pre-perturbation muscle activity (right TA) (P < 0.05). Those who undertook treadmill PBT were not different to those without prior training during the first walkway trip (P > 0.05). CONCLUSIONS: Both treadmill and walkway PBT induced earlier initiation and peak activation of right limb muscles responsible for the first recovery step. Treadmill PBT also reduced co-contraction of the knee muscles. Adaptations in muscle activity following treadmill PBT did not transfer to a walkway trip.

Multifunctional Magnetic Muscles for Soft Robotics.

Despite recent advancements, artificial muscles have not yet been able to strike the right balance between exceptional mechanical properties and dexterous actuation abilities that are found in biological systems. Here, we present an artificial magnetic muscle that exhibits multiple remarkable mechanical properties and demonstrates comprehensive actuating performance, surpassing those of biological muscles. This artificial muscle utilizes a composite configuration, integrating a phase-change polymer and ferromagnetic particles, enabling active control over mechanical properties and complex actuating motions through remote laser heating and magnetic field manipulation. Consequently, the magnetic composite muscle can dynamically adjust its stiffness as needed, achieving a switching ratio exceeding 2.7 × 10³. This remarkable adaptability facilitates substantial load-bearing capacity, with specific load capacities of up to 1000 and 3690 for tensile and compressive stresses, respectively. Moreover, it demonstrates reversible extension, contraction, bending, and twisting, with stretchability exceeding 800%. We leverage these distinctive attributes to showcase the versatility of this composite muscle as a soft continuum robotic manipulator. It adeptly executes various programmable responses and performs complex tasks while minimizing mechanical vibrations. Furthermore, we demonstrate that this composite muscle excels across multiple mechanical and actuation aspects compared to existing actuators.

A novel procedure to automate the removal of PLI and motion artifacts using mode decomposition to enhance pattern recognition of sEMG signals for myoelectric control of prosthesis.

Hand Movement Recognition (HMR) with sEMG is crucial for artificial hand prostheses. HMR performance mostly depends on the feature information that is fed to the classifiers. However, sEMG often captures noise like power line interference (PLI) and motion artifacts. This may extract redundant and insignificant feature information, which can degrade HMR performance and increase computational complexity. This study aims to address these issues by proposing a novel procedure for automatically removing PLI and motion artifacts from experimental sEMG signals. This will make it possible to extract better features from the signal and improve the categorization of various hand movements. Empirical mode decomposition and energy entropy thresholding are utilized to select relevant mode components for artifact removal. Time domain features are then used to train classifiers (kNN, LDA, SVM) for hand movement categorization, achieving average accuracies of 92.36%, 93.63%, and 98.12%, respectively, across subjects. Additionally, muscle contraction efforts are classified into low, medium, and high categories using this technique. Validation is performed on data from ten subjects performing eight hand movement classes and three muscle contraction efforts with three surface electrode channels. Results indicate that the proposed preprocessing improves average accuracy by 9.55% with the SVM classifier, significantly reducing computational time.

Real-Time Calibration-Free Musculotendon Kinematics for Neuromusculoskeletal Models.

Neuromusculoskeletal (NMS) models enable non-invasive estimation of clinically important internal biomechanics. A critical part of NMS modelling is the estimation of musculotendon kinematics, which comprise musculotendon unit lengths, moment arms, and lines of action. Musculotendon kinematics, which are partially dependent on joint angles, define the non-linear mapping of muscle forces to joint moments and contact forces. Currently, real-time computation of musculotendon kinematics requires creation of a per-individual surrogate model. The computational speed and accuracy of these surrogates degrade with increasing number of coordinates. We developed a feed-forward neural network that completely encodes musculotendon kinematics of a target model across a wide anthropometric range, enabling accurate real-time estimates of musculotendon kinematics without need for a priori creation of a per-individual surrogate model. Compared to reference, the neural network had median normalized errors ~0.1% for musculotendon lengths, <0.4% for moment arms, and <0.10° for line of action orientations. The neural network was employed within an electromyogram-informed NMS model to calculate hip contact forces, demonstrating little difference (normalized root mean square error 1.23±0.15 %) compared to using reference musculotendon kinematics. Finally, execution time was <0.04 ms per frame and constant for increasing number of model coordinates. Our approach to musculoskeletal kinematics may facilitate deployment of complex real-time NMS modelling in computer vision or wearable sensors applications to realize biomechanics monitoring, rehabilitation, and disease management outside the research laboratory.

The Effects of Running Foot Strike Manipulation on Pelvic Floor Muscle Activity in Healthy Nulliparous Females.

Vertical loading rate (VLR) and pelvic floor muscle activity (PFA) increase with running velocity, which may indicate a relationship between VLR and PFA. Foot strike pattern has been shown to influence VLR while running, but little is known about its influence on PFA. Twenty healthy women ran on a treadmill for 2 conditions: with a rearfoot strike and with a forefoot strike. PFA was measured with electromyography. Running kinematics associated with VLR were collected using inertial measurement units and tibial accelerometers. Change scores between conditions were calculated for average PFA and running kinematics: peak vertical tibial acceleration, vertical excursion of the center of mass (VO), and cadence. Paired t tests assessed differences between running conditions for all variables. Pearson correlations assessed the relationships between changes in PFA and running kinematics. PFA was significantly higher during the forefoot compared with the rearfoot strike condition. Change in vertical tibial acceleration was positively correlated with change in PFA during the right stance. Change in cadence was negatively correlated, and change in vertical excursion of the center of mass was positively correlated with change in PFA during left stance. The average PFA increased during the forefoot strike pattern condition. Changes in PFA were correlated with changes in running kinematics associated with VLR.