Virtual muscles and reflex control generates human-like ankle torques during gait perturbations.

IF 1.7 4区 医学 Q3 ENGINEERING, BIOMEDICAL Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine Pub Date : 2024-08-01 Epub Date: 2024-08-13 DOI:10.1177/09544119241272766
Sandra Hnat, Antonie J van den Bogert
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Abstract

A biologically-inspired actuation system, including muscles, spinal reflexes, and vestibular feedback, may be capable of achieving more natural gait mechanics in powered prostheses or exoskeletons. In this study, we developed a Virtual Muscle Reflex (VMR) system to control ankle torque and tuned it using data from human responses to anteroposterior mechanical perturbations at three walking speeds. The system consists of three Hill-Type muscles, simulated in real time, and uses feedback from ground reaction force and from stretch sensors on the virtual muscle fibers. Controller gains, muscle properties, and reflex/vestibular time delays were optimized using Covariance Matrix Adaptation (CMA) to minimize the difference between the VMR torque output and the torque measured from the experiment. We repeated the procedure using a conventional finite-state impedance controller. For both controllers, the coefficient of determination (R2) and root-mean-square error (RMSE) was calculated as a function of time within the gait cycle. The VMR had lower RMSE than the impedance controller in 70%, and in 60% of the trials, the R2 of the VMR controller was higher than for the impedance controller. We concluded that the VMR system can better reproduce the human responses to perturbations than the impedance controller.

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虚拟肌肉和反射控制可在步态扰动时产生类似人类的踝关节扭矩。
包括肌肉、脊柱反射和前庭反馈在内的生物启发驱动系统或许能够在动力假肢或外骨骼中实现更自然的步态力学。在这项研究中,我们开发了一个虚拟肌肉反射(VMR)系统来控制踝关节扭矩,并利用人体在三种行走速度下对前后机械扰动的反应数据对其进行了调整。该系统由实时模拟的三块希尔型肌肉组成,并使用地面反作用力和虚拟肌肉纤维上的拉伸传感器提供的反馈。我们使用协方差矩阵自适应(CMA)对控制器增益、肌肉属性和反射/前庭时延进行了优化,以最大限度地减小 VMR 扭矩输出与实验所测得的扭矩之间的差异。我们使用传统的有限状态阻抗控制器重复了这一过程。对于这两种控制器,我们都计算了步态周期内决定系数(R2)和均方根误差(RMSE)与时间的函数关系。在 70% 的试验中,VMR 的均方根误差低于阻抗控制器,在 60% 的试验中,VMR 控制器的 R2 高于阻抗控制器。我们的结论是,与阻抗控制器相比,VMR 系统能更好地再现人类对扰动的反应。
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来源期刊
CiteScore
3.60
自引率
5.60%
发文量
122
审稿时长
6 months
期刊介绍: The Journal of Engineering in Medicine is an interdisciplinary journal encompassing all aspects of engineering in medicine. The Journal is a vital tool for maintaining an understanding of the newest techniques and research in medical engineering.
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