Lower limb ankle exoskeletons have been used to improve walking efficiency and assist the elderly and patients with motor dysfunction in daily activities or rehabilitation training, while the assistance patterns may influence the wearer’s lower limb muscle activities and coordination patterns. In this paper, we aim to evaluate the effects of different ankle exoskeleton assistance patterns on wearer’s lower limb muscle activities and coordination patterns. A tethered ankle exoskeleton with nine assistance patterns that combined with differenet actuation timing values and torque magnitude levels was used to assist human walking. Lower limb muscle surface electromyography signals were collected from 7 participants walking on a treadmill at a speed of 1.25 m/s. Results showed that the soleus muscle activities were significantly reduced during assisted walking. In one assistance pattern with peak time in 49% of stride and peak torque at 0.7 N·m/kg, the soleus muscle activity was decreased by (38.5 ± 10.8)%. Compared with actuation timing, the assistance torque magnitude had a more significant influence on soleus muscle activity. In all assistance patterns, the eight lower limb muscle activities could be decomposed to five basic muscle synergies. The muscle synergies changed little under assistance with appropriate actuation timing and torque magnitude. Besides, co-contraction indexs of soleus and tibialis anterior, rectus femoris and semitendinosus under exoskeleton assistance were higher than normal walking. Our results are expected to help to understand how healthy wearers adjust their neuromuscular control mechanisms to adapt to different exoskeleton assistance patterns, and provide reference to select appropriate assistance to improve walking efficiency.
To better evaluate neuromuscular function of patients with stroke related motor dysfunction, we proposed an effective corticomuscular coherence analysis and coherent significant judgment method. Firstly, the related functional frequency bands in the electroencephalogram (EEG) were extracted via wavelet decomposition. Secondly, coherence were analysed between surface electromyography (sEMG) and sub-bands extracted from EEG. Further more, a coherent significant indicator was defined to quantitatively describe the similarity in certain frequency domain and phase lock activity between EEG and sEMG. Through the analysis of corticomuscular coherence during knee flexion-extension of stroke patients and healthy controls, we found that the stroke patients exhibited significantly lower gamma-band corticomuscular coherence in performing the task with their affected leg, and there was no statistically significant difference between their unaffected lag and the healthy controls, but with the rehabilitation training, the bilateral difference of corticomuscular coherence in patients decreased gradually.
Wearing transfemoral prosthesis is the only way to complete daily physical activity for amputees. Motion pattern recognition is important for the control of prosthesis, especially in the recognizing swing phase and stance phase. In this paper, it is reported that surface electromyography (sEMG) signal is used in swing and stance phase recognition. sEMG signal of related muscles was sampled by Infiniti of a Canadian company. The sEMG signal was then filtered by weighted filtering window and analyzed by height permitted window. The starting time of stance phase and swing phase is determined through analyzing special muscles. The sEMG signal of rectus femoris was used in stance phase recognition and sEMG signal of tibialis anterior is used in swing phase recognition. In a certain tolerating range, the double windows theory, including weighted filtering window and height permitted window, can reach a high accuracy rate. Through experiments, the real walking consciousness of the people was reflected by sEMG signal of related muscles. Using related muscles to recognize swing and stance phase is reachable. The theory used in this paper is useful for analyzing sEMG signal and actual prosthesis control.
It is the functional connectivity between motor cortex and muscle that directly relates to the rehabilitation of the dysfunction in upper limbs and neuromuscular activity status, which can be detected by electroencephalogram-electromyography (EEG-EMG) coherence analysis. In this study, based on coherence analysis method, we process the acquisition signals which consist of 9 channel EEG signal from motor cortex and 4 channel EMG signal from forearm, by using 4 groups of hand motions in the healthy subjects, including flexor digitorum, extensor digitorum, wrist flexion, and wrist extension. The results showed that in the β-band, the coherence coefficients between C3 and flexor digitorum (FD) was greater than extensor digitorum (ED) in the right hand flexor digitorum movement; the coherence coefficients between C3 and ED was greater than FD in the right hand extensor digitorum movement; the coherence coefficients between C3 and flexor carpi ulnaris (FCU) was greater than extensor carpi radialis (ECR) in the right hand wrist flexion movement; the coherence coefficients between C3 and ECR was greater than FCU in the right hand wrist extension movement. This analysis provides experimental basis to explore the information decoding of hand motion based on corticomuscular coherence (CMC).
In this paper, a new surface electromyography (sEMG) signal decomposition method based on spatial location is proposed for the high-density sEMG signals in dynamic muscle contraction. Firstly, according to the waveform correlation of each muscle motor units (MU) in each channel, the firing times are extracted, and then the firing times are classified by the spatial location of MU. The MU firing trains are finally obtained. The simulation results show that the accuracy rate of a single MU firing train after classification is more than 91.67%. For real sEMG signals, the accuracy rate to find a same MU by the “two source” method is over (88.3 ± 2.1)%. This paper provides a new idea for dynamic sEMG signal decomposition.
In this study, surface electromyography (sEMG) of the lower limbs of cerebral-palsy (CP) subjects in gait cycle was recorded and its parameters of gait cycle characters were analyzed to assess their clinical severity. Three algorithms, including integrated profile (IP), sample-entropy (SampEN) and smooth nonlinear energy operator (SNEO) algorithm, were applied to calculate the duration of walking sEMG segments in simulated SEMG signals. After that, the efficiency and accuracy were compared among these three algorithms. SNEO was then selected as the optimal algorithm among the three algorithms and employed for real sEMG signal processing of CP subjects. The results indicated that there was no significant difference in the accuracy of sEMG segement detection for the three algorithms. However, the computation speed of SNEO algorithm was much faster than those of the others and thus it was a suitable algorithm for detecting walking sEMG segments of CP subjects. In addition, the positive correlation was found between the clinical severity and the mean duration of walking sEMG segments in CP subjects. The results indicated that there was a significant difference in the three groups of CP subjects with different levels of severity. Our findings showed that the mean duration of walking sEMG segments could be considered as an assistant index to evaluate the clinical severity of CP subjects.
Objective To review targeted muscle reinnervation (TMR) surgery for the construction of intelligent prosthetic human-machine interface, thus providing a new clinical intervention paradigm for the functional reconstruction of residual limbs in amputees. MethodsExtensively consulted relevant literature domestically and abroad and systematically expounded the surgical requirements of intelligent prosthetics, TMR operation plan, target population, prognosis, as well as the development and future of TMR. Results TMR facilitates intuitive control of intelligent prostheses in amputees by reconstructing the “brain-spinal cord-peripheral nerve-skeletal muscle” neurotransmission pathway and increasing the surface electromyographic signals required for pattern recognition. TMR surgery for different purposes is suitable for different target populations. Conclusion TMR surgery has been certified abroad as a transformative technology for improving prosthetic manipulation, and is expected to become a new clinical paradigm for 2 million amputees in China.
Human motion control system has a high degree of nonlinear characteristics. Through quantitative evaluation of the nonlinear coupling strength between surface electromyogram (sEMG) signals, we can get the functional state of the muscles related to the movement, and then explore the mechanism of human motion control. In this paper, wavelet packet decomposition and n:m coherence analysis are combined to construct an intermuscular cross-frequency coupling analysis model based on wavelet packet-n:m coherence. In the elbow flexion and extension state with 30% maximum voluntary contraction force (MVC), sEMG signals of 20 healthy adults were collected. Firstly, the subband components were obtained based on wavelet packet decomposition, and then the n:m coherence of subband signals was calculated to analyze the coupling characteristics between muscles. The results show that the linear coupling strength (frequency ratio 1:1) of the cooperative and antagonistic pairs is higher than that of the nonlinear coupling (frequency ratio 1:2, 2:1 and 1:3, 3:1) under the elbow flexion motion of 30% MVC; the coupling strength decreases with the increase of frequency ratio for the intermuscular nonlinear coupling, and there is no significant difference between the frequency ratio n:m and m:n. The intermuscular coupling in beta and gamma bands is mainly reflected in the linear coupling (1:1), nonlinear coupling of low frequency ratio (1:2, 2:1) between synergetic pair and the linear coupling between antagonistic pairs. The results show that the wavelet packet-n:m coherence method can qualitatively describe the nonlinear coupling strength between muscles, which provides a theoretical reference for further revealing the mechanism of human motion control and the rehabilitation evaluation of patients with motor dysfunction.
Exercise-induced muscle fatigue is a phenomenon that the maximum voluntary contraction force or power output of muscle is temporarily reduced due to muscular movement. If the fatigue is not treated properly, it will bring about a severe injury to the human body. With multi-channel collection of lower limb surface electromyography signals, this article analyzes the muscle fatigue by adoption of band spectrum entropy method which combined electromyographic signal spectral analysis and nonlinear dynamics. The experimental result indicated that with the increase of muscle fatigue, muscle signal spectrum began to move to low frequency, the energy concentrated, the system complexity came down, and the band spectrum entropy which reflected the complexity was also reduced. By monitoring the entropy, we can measure the degree of muscle fatigue, and provide an indicator to judge fatigue degree for the sports training and clinical rehabilitation training.
The real physical image of the affected limb, which is difficult to move in the traditional mirror training, can be realized easily by the rehabilitation robots. During this training, the affected limb is often in a passive state. However, with the gradual recovery of the movement ability, active mirror training becomes a better choice. Consequently, this paper took the self-developed shoulder joint rehabilitation robot with an adjustable structure as an experimental platform, and proposed a mirror training system completed by next four parts. First, the motion trajectory of the healthy limb was obtained by the Inertial Measurement Units (IMU). Then the variable universe fuzzy adaptive proportion differentiation (PD) control was adopted for inner loop, meanwhile, the muscle strength of the affected limb was estimated by the surface electromyography (sEMG). The compensation force for an assisted limb of outer loop was calculated. According to the experimental results, the control system can provide real-time assistance compensation according to the recovery of the affected limb, fully exert the training initiative of the affected limb, and make the affected limb achieve better rehabilitation training effect.
