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Pneumatically powered robotic exercise device to induce a specific force profile in target lower extremity muscles

Published online by Cambridge University Press:  27 June 2014

Gregory C. Henderson  and
Jun Ueda
Gregory C. Henderson
Affiliation:
The G. W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, 771 Ferst Drive, Atlanta, GA 30332-0405, USA
Jun Ueda*
Affiliation:
The G. W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, 771 Ferst Drive, Atlanta, GA 30332-0405, USA
*
*Corresponding author. E-mail: jun.ueda@me.gatech.edu
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Summary

The goal of this research is to establish a methodology to actively control a pneumatically driven robotic device that can induce specific muscle force patterns in target muscles during a subject's voluntary movement. In this paper, the generation of constant forces in the rectus femoris muscle throughout the knee extension, i.e., isotonic contractions, was studied. Due to a highly nonlinear nature of mapping the joint torque to muscle force, a simple application of constant torques to the knee joint would not realize isotonic contractions. The proposed robotic exercise accounted for nonlinear moment arms of muscles as functions of joint angles and nonlinear coordination of multiple muscles in the neuromuscular system to accomplish individual muscle control. A pneumatically powered one degree-of-freedom device that can impose active force feedback control has been designed and built. An exercise-planning algorithm has been developed that involved a musculoskeletal model of the lower body, and the dynamics of a pneumatic actuator. Five constant force profiles were tested for 20 healthy volunteers and electromyographic signals were collected while the device was applying calculated force profiles.

Keywords

Isolation exerciseMuscle force controlIsotonic contractionMuscle optimizationMusculoskeletal modelLower extremitiesPneumatically powered exercise deviceElectromyogramRehabilitation
Type
Articles
Information
Robotica , Volume 32 , Issue 8: Rehabilitation Robotics and Human-Robot Interaction , December 2014 , pp. 1281 - 1299
Copyright
Copyright © Cambridge University Press 2014 

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