Lumbar joint compression forces have been linked to the development of chronic low back pain, which is specially present in occupational environments. Offline methodologies for lumbosacral joint compression force estimation are not commonly integrated in occupational or medical applications due to the highly time-consuming and complex post-processing procedures. Hence, applications such as real-time adjustment of assistive devices (i.e., back-support exoskeletons) for optimal modulation of compression forces remains unfeasible. Here, we present a real-time electromyography (EMG)-driven musculoskeletal model, capable of estimating accurate lumbosacral joint moments and plausible compression forces. Ten participants performed box-lifting tasks (5 and 15 kg) with and without the Laevo Flex back-support exoskeleton using squat and stoop lifting techniques. Lumbosacral kinematics and EMGs from abdominal and thoracolumbar muscles were used to drive, in real-time, subject-specific EMG-driven models, and estimate lumbosacral joint moments and compression forces. Real-time EMG-model derived moments showed high correlations (R² = 0.76 - 0.83) and estimation errors below 30% with respect to reference inverse dynamic moments. Compared to unassisted lifting conditions, exoskeleton liftings showed mean lumbosacral joint moments and compression forces reductions of 11.9 - 18.7 Nm (6 - 12% of peak moment) and 300 - 450 N (5 - 10%), respectively. Our modelling framework was capable of estimating in real-time, valid lumbosacral joint moments and compression forces in line with in vivo experimental data, as well as detecting the biomechanical effects of a passive back-support exoskeleton. Our presented technology may lead to a new class of bio-protective robots in which personalized assistance profiles are provided based on subject-specific musculoskeletal variables.

@en

Quantifying human joint stiffness in vivo during movement remains challenging. Well established stiffness estimation methods include system identification and the notion of quasi-stiffness, with experimental and conceptual limitations, respectively. Joint stiffness computation via biomechanical models is an emerging solution to overcome such limitations. However, these models make assumptions that hamper their generalization across muscle architectures. Here we present a stiffness formulation that considers the muscle’s pennation angle, and its comparison to a simpler formulation that does not. Model-based stiffness estimates are evaluated against joint-perturbation-based system identification. Results on muscles with different pennation angle show that our formulation seamlessly adjusts the muscle-tendon units’ stiffness depending on their architecture. At the joint level, our new model improved the stiffness estimations. Our study’s relevance is the creation and validation of a modeling formulation that does not require joint perturbation. This will enable better estimations and understanding of stiffness properties and human movement.@en

Joint impedance is a common way of representing human joint dynamics. Since ankle joint impedance varies within the gait cycle, time-varying system identification techniques can be used to estimate it. Commonly, time-varying system identification techniques assume repeatably of joint impedance over cyclic motions, without taking into consideration the inherent variability of human behavior. In this paper, a method that assumes smooth, cyclic joint impedance, yet allows for cycle-to-cycle variability, is proposed. The method was tested on isometric, cyclic experimental data from the ankle under conditions with a time variation comparable to the expected one during the gait cycle. The estimated model could describe the data with high accuracy (VAF of 94.96%) and retrieve realistic inertia, damping and stiffness parameters. The results provide motivation to further apply the method on experiments under dynamic conditions and to employ the proposed method as a tool for investigating the human joint dynamics during cyclic movements.

@en