An In Vitro Approach for Directly Observing Muscle-Tendon Dynamics with Parallel Elastic Mechanical Assistance

Abstract

Lower-limb exoskeletons are a promising tool for restoring or augmenting locomotion performance. While engineering advances have led to marked improvements on the machine side of the human machine interface, fundamental aspects of the physiological response of the human user remain unknown—especially at the level of individual leg muscles. One complication is that it is difficult to make direct measurements from muscles in humans without being invasive. Here we offer a novel benchtop approach by introducing a ‘smart’ robotic interface into the framework of biological muscle-tendon work loop experiments in order to simulate the local dynamical environment muscles experience in vivo during locomotion with exoskeleton assistance. Using this framework we demonstrate that providing force in parallel with a muscle-tendon using an ‘exo-tendon’ can have unintended consequences, disrupting the ‘tuned’ spring-like mechanics of the underlying biological muscle tendon unit.