Ankle Joint Torque Estimation Using an EMG-Driven Neuromusculoskeletal Model and an Artificial Neural Network Model

Abstract

In recent decades, there has been an increasing interest in the use of robotic powered exoskeletons to assist patients with movement disorders in rehabilitation and daily life. Providing assistive torque that compensates for the user's remaining muscle contributions is a growing and challenging field within exoskeleton control. In this article, ankle joint torques were estimated using electromyography (EMG)-driven neuromusculoskeletal (NMS) model and an artificial neural network (ANN) model in seven movement tasks, including fast walking, slow walking, self-selected speed walking, and isokinetic dorsi/plantar flexion at 60{\circ }/s and 90{\circ }/s. In each method, EMG signals and ankle joint angles were used as input, the models were trained with data from 3-D motion analysis, and ankle joint torques were predicted. Six cases using different motion trials as calibration (for the NMS model)/training (for the ANN) were devised, and the agreement between the predicted and measured ankle joint torques was computed. We found that the NMS model could overall better predict ankle joint torques from EMG and angle data than the ANN model with some exceptions; the ANN predicted ankle joint torques with better agreement when trained with data from the same movement. The NMS model predicted ankle joint torque best when calibrated with trials during which EMG reached maximum levels, whereas the ANN predicted well when trained with many trials and types of movements. In addition, the ANN prediction may become less reliable when predicting unseen movements. Detailed comparative studies of methods to predict ankle joint torque are crucial for determining strategies for exoskeleton control. Note to Practitioners-In exoskeleton control for strength augmentation applied in military, industry, and healthcare applications, providing assistive torque that compensates for the user's remaining muscle contributions, is a challenging problem. This article predicted the ankle joint torques by electromyography (EMG)-driven neuromusculoskeletal (NMS) model and an artificial neural network (ANN) model in different movements. To the best of our knowledge, this is the first study comparing joint torque prediction performance of EMG-driven model to ANN. In the EMG-driven NMS model, mathematical equations were formulated to reproduce the transformations from EMG signal generation and joint angles to musculotendon forces and joint torques. A three-layer ANN was constructed with an adaptive moment estimation (Adam) optimization method to learn the relationships between the inputs (EMG signals and joint angles) and the outputs (joint torques). In the experiments, we estimated ankle joint torques in gait and isokinetic movements and compared the performance of methods to predict ankle joint torque, relating to how the methods have been calibrated/trained. The detailed analysis of the methods' performance in predicting ankle joint torque can significantly contribute to determining which model to choose, and under which circumstances, and, thus, be of great benefit for exoskeleton rehabilitation controller design.