Pneumatically-Powered Robotic Exercise Device to Induce a Specific Activation Pattern in Target Lower Extremity Muscles

Henderson, Gregory; Ueda, Jun

Title:

Pneumatically-Powered Robotic Exercise Device to Induce a Specific Activation Pattern in Target Lower Extremity Muscles

dc.contributor.author	Henderson, Gregory
dc.contributor.author	Ueda, Jun
dc.contributor.corporatename	Georgia Institute of Technology. School of Mechanical Engineering	en_US
dc.date.accessioned	2015-05-26T17:28:35Z
dc.date.available	2015-05-26T17:28:35Z
dc.date.issued	2014-12
dc.description	Copyright © Cambridge University Press	en_US
dc.description	DOI: http://dx.doi.org/10.1017/S0263574714001556
dc.description.abstract	The goal of this research is to establish a methodology to actively control a pneumatically driven robotic device that can induce specific muscle force patterns in target muscles during a subject’s voluntary movement. In this paper, the generation of constant forces in the rectus femoris muscle throughout the knee extension, i.e., isotonic contractions, was studied. Due to a highly nonlinear nature of mapping the joint torque to muscle force, a simple application of constant torques to the knee joint would not realize isotonic contractions. The proposed robotic exercise accounted for nonlinear moment arms of muscles as functions of joint angles and nonlinear coordination of multiple muscles in the neuromuscular system to accomplish individual muscle control. A pneumatically powered one degree of freedom (DOF) device that can impose active force feedback control has been designed and built. An exercise-planning algorithm has been developed that involved a musculoskeletal model of the lower-body, and the dynamics of a pneumatic actuator. Five constant force profiles were tested for twenty healthy volunteers and electromyographic (EMG) signals were collected while the device was applying calculated force profiles.	en_US
dc.embargo.terms	null	en_US
dc.identifier.citation	Gregory Henderson and Jun Ueda, “Pneumatically-Powered Robotic Exercise Device to Induce a Specific Activation Pattern in Target Lower Extremity Muscles,” Robotica, volume 32, issue 08, pp. 1281-1299, 2014. DOI: http://dx.doi.org/10.1017/S0263574714001556	en_US
dc.identifier.doi	10.1017/S0263574714001556
dc.identifier.uri	http://hdl.handle.net/1853/53352
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.subject	Isolation exercise	en_US
dc.subject	Muscle force control	en_US
dc.subject	Isotonic contraction	en_US
dc.subject	Muscle optimization	en_US
dc.subject	Musculoskeletal model	en_US
dc.subject	Lower extremities	en_US
dc.subject	Pneumatically powered exercise device	en_US
dc.subject	Electromyogram	en_US
dc.subject	Rehabilitation	en_US
dc.title	Pneumatically-Powered Robotic Exercise Device to Induce a Specific Activation Pattern in Target Lower Extremity Muscles	en_US
dc.type	Text
dc.type.genre	Post-print
dspace.entity.type	Publication
local.contributor.author	Ueda, Jun
relation.isAuthorOfPublication	7ff601c5-b262-4830-8a06-b75c55f5f1c8