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Real-Time Torque Estimation Using Human and Sensor Data Fusion for Exoskeleton Assistance

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Robot 2023: Sixth Iberian Robotics Conference (ROBOT 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 978))

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Abstract

Robotic assistive devices have emerged as a potential complement for repetitive and user-centered gait rehabilitation. In this field, the development of electromyography (EMG)-based torque controls has played a crucial role in improving the user experience with robotic assistive devices. However, most existing approaches for EMG-based joint torque estimation (i) are designed for upper limbs; (ii) often do not consider the complexity of the walking motion, focusing only on the stance phase; and (iii) rely on complex mathematical models that result in time-consuming estimations. This study aims to address these shortcomings by evaluating the generalization ability of a Deep Learning regressor (Convolutional Neural Network (CNN)) for estimating ankle torque trajectories, in real-time. Several inputs were incorporated, namely, EMG signals from Tibialis Anterior and Gastrocnemius Lateralis, hip kinematic data in the sagittal plane (angle, angular velocity, angular acceleration), walking speed (from 1.5 to 2.0 km/h), user’s demographic (gender and age) and anthropometric information (height and mass, ranging from 1.50 to 1.90 m and 50.0 to 90.0 kg, respectively, and shank and foot lengths). Results showed that a CNN model with two convolutional layers showed the highest generalization ability (Root Mean Square Error: 23.4 ± 8.36, Normalized Mean Square Error: 0.494 ± 0.299, and Spearman Correlation 0.754 ± 0.105). CNN model’s time-effectiveness was tested in an active ankle orthosis, being able to estimate ankle joint torques in less than 2 ms. This study contributes to a more time-effective model for real-time EMG-based torque estimation, enabling a promising advancement in EMG-based torque control for lower limb robotic assistive devices.

This work was funded by the Fundação para a Ciência e Tecnologia under the scholarship reference 2020.05711.BD, under the Stimulus of Scientific Employment with the grant 2020.03393.CEECIND, with the FAIR project under grant 2022.05844.PTDC, under the national support to R&D units grant through the reference project UIDB/04436/2020 and UIDP/04436/2020, and under the scholarship reference POCI-01-0247-FEDER-039868_BI_04_2022_CMEMS.

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Author information

Authors and Affiliations

  1. Center for MicroElectroMechanical Systems (CMEMS), University of Minho, Braga, Portugal

    Luís Moreira, Roberto M. Barbosa, Joana Figueiredo & Cristina P. Santos

  2. LABBELS Associative Laboratory, University of Minho, Braga/Guimarães, Portugal

    Joana Figueiredo & Cristina P. Santos

  3. Porto Biomechanics Laboratory (LABIOMEP), University of Porto, Porto, Portugal

    Pedro Fonseca & João P. Vilas-Boas

  4. Faculty of Sport, CIFI2D, University of Porto, Porto, Portugal

    João P. Vilas-Boas

Authors
  1. Luís Moreira
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  2. Roberto M. Barbosa
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  3. Joana Figueiredo
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  4. Pedro Fonseca
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  5. João P. Vilas-Boas
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  6. Cristina P. Santos
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Corresponding author

Correspondence to Joana Figueiredo .

Editor information

Editors and Affiliations

  1. Dep. de Eng. Electrotecnica e de Computadores, University of Coimbra, Coimbra, Portugal

    Lino Marques

  2. Department of Electrónica Industrial, University of Minho, Escola de Engenharia, Guimarães, Portugal

    Cristina Santos

  3. Department of Electrical Engineering, ESTIG, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  4. Centro Universitario de la Defensa, Zaragoza, Spain

    Danilo Tardioli

  5. Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, Madrid, Spain

    Manuel Ferre

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Moreira, L., Barbosa, R.M., Figueiredo, J., Fonseca, P., Vilas-Boas, J.P., Santos, C.P. (2024). Real-Time Torque Estimation Using Human and Sensor Data Fusion for Exoskeleton Assistance. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 978. Springer, Cham. https://doi.org/10.1007/978-3-031-59167-9_37

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