Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb

[EN] Conventional assistive and rehabilitative robotic systems often overlook human biomechanics, particularly muscular forces, as they predominantly operate in joint or task space and focus on position and exchanged forces. Similarly, traditional manual rehabilitation techniques employed by physiot...

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Autores: Escarabajal, Rafael J., Zamora-Ortiz, Pau, Pulloquinga, José L., Vallés Miquel, Marina|||0000-0002-6396-0098, Valera Fernández, Ángel|||0000-0001-6843-6394
Tipo de recurso: artículo
Fecha de publicación:2025
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:dnet:riunet______::8fbbdcfdb204548d0d463375add5d46b
Acceso en línea:https://riunet.upv.es/handle/10251/234039
Access Level:acceso abierto
Palabra clave:Human-robot interaction
Muscle-targeted control
Musculoskeletal model
Parallel robot (PR)
Robotic assistance
03.- Garantizar una vida saludable y promover el bienestar para todos y todas en todas las edades
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dc.title.none.fl_str_mv Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb
title Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb
spellingShingle Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb
Escarabajal, Rafael J.
Human-robot interaction
Muscle-targeted control
Musculoskeletal model
Parallel robot (PR)
Robotic assistance
03.- Garantizar una vida saludable y promover el bienestar para todos y todas en todas las edades
title_short Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb
title_full Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb
title_fullStr Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb
title_full_unstemmed Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb
title_sort Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb
dc.creator.none.fl_str_mv Escarabajal, Rafael J.
Zamora-Ortiz, Pau
Pulloquinga, José L.
Vallés Miquel, Marina|||0000-0002-6396-0098
Valera Fernández, Ángel|||0000-0001-6843-6394
author Escarabajal, Rafael J.
author_facet Escarabajal, Rafael J.
Zamora-Ortiz, Pau
Pulloquinga, José L.
Vallés Miquel, Marina|||0000-0002-6396-0098
Valera Fernández, Ángel|||0000-0001-6843-6394
author_role author
author2 Zamora-Ortiz, Pau
Pulloquinga, José L.
Vallés Miquel, Marina|||0000-0002-6396-0098
Valera Fernández, Ángel|||0000-0001-6843-6394
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Instituto Universitario de Automática e Informática Industrial
Escuela Técnica Superior de Ingeniería Industrial
Escuela Técnica Superior de Ingeniería Informática
GENERALITAT VALENCIANA
Agencia Estatal de Investigación
MINISTERIO DE CIENCIA E INNOVACION
Ministerio de Universidades
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Human-robot interaction
Muscle-targeted control
Musculoskeletal model
Parallel robot (PR)
Robotic assistance
03.- Garantizar una vida saludable y promover el bienestar para todos y todas en todas las edades
topic Human-robot interaction
Muscle-targeted control
Musculoskeletal model
Parallel robot (PR)
Robotic assistance
03.- Garantizar una vida saludable y promover el bienestar para todos y todas en todas las edades
description [EN] Conventional assistive and rehabilitative robotic systems often overlook human biomechanics, particularly muscular forces, as they predominantly operate in joint or task space and focus on position and exchanged forces. Similarly, traditional manual rehabilitation techniques employed by physiotherapists struggle to obtain quantitative measurements and make precise modifications to key human variables, resulting in predominantly qualitative methods and outcomes. In response to these limitations, this article introduces an innovative assistive robot controller that operates in the muscular space, targeting specific muscles in the lower limb, and distinguishing itself from existing solutions that focus primarily on joint or task space. A key innovation of our approach is the real-time measurement of muscular forces during dynamic tasks, obtained from a calibrated musculoskeletal model. These measurements enable the establishment of a multistep closed-loop controller, with the outer loop precisely tracking the desired muscular forces. Implemented within a configurable viscous environment, the controller provides a natural response for the user. Experimental evaluations conducted using a parallel robot designed for rehabilitation demonstrate the controller¿s efficacy. Incorporating the outer loop reduced the median relative error of the tracked muscular force by nearly 80% and decreased the variability of this error by over 85% compared to a pure viscous environment defined as the baseline. These findings highlight the potential applications of this control framework in areas, such as assistive robotics and precision rehabilitation. By achieving objective measurement and control, the system may enhance rehabilitation outcomes, offering tailored exercises that match the individual needs, capabilities, and engagement of each patient.
publishDate 2025
dc.date.none.fl_str_mv 2025
2025-02-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/234039
url https://riunet.upv.es/handle/10251/234039
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023 PID2021-125694OB-I00 SISTEMA ROBOTICO PARALELO CON CONTROL BASADO EN MODELO MUSCULO-ESQUELETICO PARA LA MONITORIZACION Y ENTRENAMIENTO DEL SISTEMA PROPIOCEPTIVO
Generalitat Valenciana https://doi.org/10.13039/501100003359 CIAICO%2F2023%2F074 CONTROL MUSCULOESQUELETICO DE ROBOTS PARALELOS PARA LA REHABILITACION PERSONALIZADA DEL MIEMBRO INFERIOR (ROBOMUSC)
Ministerio de Universidades MIU FPU18%2F05105 DESARROLLO Y CONTROL DE ROBOTS PARALELOS RECONFIGURABLES PARA LA REHABILITACIÓN DE MIEMBRO INFERIOR DE PERSONAS
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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spelling Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower LimbEscarabajal, Rafael J.Zamora-Ortiz, PauPulloquinga, José L.Vallés Miquel, Marina|||0000-0002-6396-0098Valera Fernández, Ángel|||0000-0001-6843-6394Human-robot interactionMuscle-targeted controlMusculoskeletal modelParallel robot (PR)Robotic assistance03.- Garantizar una vida saludable y promover el bienestar para todos y todas en todas las edades[EN] Conventional assistive and rehabilitative robotic systems often overlook human biomechanics, particularly muscular forces, as they predominantly operate in joint or task space and focus on position and exchanged forces. Similarly, traditional manual rehabilitation techniques employed by physiotherapists struggle to obtain quantitative measurements and make precise modifications to key human variables, resulting in predominantly qualitative methods and outcomes. In response to these limitations, this article introduces an innovative assistive robot controller that operates in the muscular space, targeting specific muscles in the lower limb, and distinguishing itself from existing solutions that focus primarily on joint or task space. A key innovation of our approach is the real-time measurement of muscular forces during dynamic tasks, obtained from a calibrated musculoskeletal model. These measurements enable the establishment of a multistep closed-loop controller, with the outer loop precisely tracking the desired muscular forces. Implemented within a configurable viscous environment, the controller provides a natural response for the user. Experimental evaluations conducted using a parallel robot designed for rehabilitation demonstrate the controller¿s efficacy. Incorporating the outer loop reduced the median relative error of the tracked muscular force by nearly 80% and decreased the variability of this error by over 85% compared to a pure viscous environment defined as the baseline. These findings highlight the potential applications of this control framework in areas, such as assistive robotics and precision rehabilitation. By achieving objective measurement and control, the system may enhance rehabilitation outcomes, offering tailored exercises that match the individual needs, capabilities, and engagement of each patient.This work was supported in part by the Agencia Estatal de Investigacion (Ministerio de Ciencia e Innovacion, Spanish Government)/Fondos FEDER under Project PID2021-125694OB-I00; in part by the Conselleria de Innovacion, Universidades, Ciencia y Sociedad Digital (Generalitat Valenciana) under Project CIAICO/2023/074; and in part by the Ministerio de Universidades, Spanish Government, under Grant FPU18/05105.Institute of Electrical and Electronics EngineersDepartamento de Ingeniería de Sistemas y AutomáticaInstituto Universitario de Automática e Informática IndustrialEscuela Técnica Superior de Ingeniería IndustrialEscuela Técnica Superior de Ingeniería InformáticaGENERALITAT VALENCIANAAgencia Estatal de InvestigaciónMINISTERIO DE CIENCIA E INNOVACIONMinisterio de UniversidadesRepositorio Institucional de la Universitat Politècnica de València Riunet20252025-02-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/234039reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023 PID2021-125694OB-I00 SISTEMA ROBOTICO PARALELO CON CONTROL BASADO EN MODELO MUSCULO-ESQUELETICO PARA LA MONITORIZACION Y ENTRENAMIENTO DEL SISTEMA PROPIOCEPTIVOGeneralitat Valenciana https://doi.org/10.13039/501100003359 CIAICO%2F2023%2F074 CONTROL MUSCULOESQUELETICO DE ROBOTS PARALELOS PARA LA REHABILITACION PERSONALIZADA DEL MIEMBRO INFERIOR (ROBOMUSC)Ministerio de Universidades MIU FPU18%2F05105 DESARROLLO Y CONTROL DE ROBOTS PARALELOS RECONFIGURABLES PARA LA REHABILITACIÓN DE MIEMBRO INFERIOR DE PERSONASopen accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:dnet:riunet______::8fbbdcfdb204548d0d463375add5d46b2026-06-13T07:49:27Z
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