Improving Biological Joint Moment Estimation During Real-World Tasks With EMG and Instrumented Insoles

摘要

OBJECTIVE: Real-time measurement of biological joint moment could enhance clinical assessments and generalize exoskeleton control. Accessing joint moments outside clinical and laboratory settings requires harnessing non-invasive wearable sensor data for indirect estimation. Previous approaches have been primarily validated during cyclic tasks, such as walking, but these methods are likely limited when translating to non-cyclic tasks where the mapping from kinematics to moments is not unique. METHODS: We trained deep learning models to estimate hip and knee joint moments from kinematic sensors, electromyography (EMG), and simulated pressure insoles from a dataset including 10 cyclic and 18 non-cyclic activities. We assessed estimation error on combinations of sensor modalities during both activity types. RESULTS: Compared to the kinematics-only baseline, adding EMG reduced RMSE by 16.9% at the hip and 30.4% at the knee (p < 0.05) and adding insoles reduced RMSE by 21.7% at the hip and 33.9% at the knee (p < 0.05). Adding both modalities reduced RMSE by 32.5% at the hip and 41.2% at the knee (p < 0.05) which was significantly higher than either modality individually (p < 0.05). All sensor additions improved model performance on non-cyclic tasks more than cyclic tasks (p < 0.05). CONCLUSION: These results demonstrate that adding kinetic sensor information through EMG or insoles improves joint moment estimation both individually and jointly. These additional modalities are most important during non-cyclic tasks, tasks that reflect the variable and sporadic nature of the real-world. SIGNIFICANCE: Improved joint moment estimation and task generalization is pivotal to developing wearable robotic systems capable of enhancing mobility in everyday life.