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ACTIVATION PRIMITIVE-DRIVEN MUSCULOSKELETAL MODELLING OF HUMAN LOCOMOTION: TOWARDS MODEL-BASED CONTROL OF BIONIC LEGS

Authors: Federica Damonte; Guillaume Durandau; Massimo Sartori; Herman Van Der Kooij;

ACTIVATION PRIMITIVE-DRIVEN MUSCULOSKELETAL MODELLING OF HUMAN LOCOMOTION: TOWARDS MODEL-BASED CONTROL OF BIONIC LEGS

Abstract

Powered prostheses have the potential to improve the quality of life of lower limb amputees, by improving their mobility . Myoelectric control systems that employ electromyograms (EMGs) as driving control signal have shown promising performances . However, EMG electrodes are susceptible to noise and movement artefact and may decrease myocontrolled prostheses overall robustness and stability. EMG-dependence in prosthetic controllers can be relaxed by exploiting the concept of muscle synergy and modularity. We propose a solution based on neuromusculoskeletal modelling including a numerical model that simulates the role of neural synergies in the recruitment of skeletal muscles. The aim is to devise advanced model-based control strategies with minimal EMG-dependence to ultimately improve physical interaction between the user and a powered prostheses during dynamic motor tasks.

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