Joint stiffness estimation under dynamic conditions still remains a challenge. Current stiffness estimation methods often rely on the external perturbation of the joint. In this study, a novel 'perturbation-free' stiffness estimation method via electromyography (EMG)-driven musculoskeletal modeling was validated for the first time against system identification techniques. EMG signals, motion capture, and dynamic data of the ankle joint were collected in an experimental setup to study the ankle joint stiffness in a controlled way, i.e. at a movement frequency of 0.6 Hz as well as in the presence and absence of external perturbations. The model-based joint stiffness estimates were comparable to system identification techniques. The ability to estimate joint stiffness at any instant of time, with no need to apply joint perturbations, might help to fill the gap of knowledge between the neural and the muscular systems and enable the subsequent development of tailored neurorehabilitation therapies and biomimetic prostheses and orthoses.
|Title of host publication||Proceedings of the 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2019)|
|Place of Publication||Piscataway, NJ, USA|
|Publication status||Published - 2019|
|Event||EMBC 2019: 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society - Berlin, Germany|
Duration: 23 Jul 2019 → 27 Jul 2019
Conference number: 41st
|Period||23/07/19 → 27/07/19|