Guillaume Durandau About the Author
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Towards the next Generation in Human This thesis presents the development of a new -machine-interfacing: human machine interface for control of exoskeletons Controlling Wearable via a neuromusculoskeletal model driven in Robots via real-time by experimental EMGs and joint Neuromusculoskeletal positions recorded from the user to predict joint torque. This predicted joint torque is then used Modelling to give assistance to the user via the exoskeleton. Paranymphs: Ronald Van 't Veld About the author: Simone Fricke Guillaume Durandau was born on February 26th, 1990 in Toulon, France. He obtained his engineering diploma at ISEN, Toulon, France, and his master's degrees at the University of Sherbrooke, Sherbrooke, Canada. He also obtained during his master, the Mitacs Globalink Research Award. At the beginning of 2014, he started as a research assistant at the Institute of Neurorehabilitation Systems, UMG, Gottingen, Germany, under the supervision of Prof. Dario Farina and Dr Massimo Sartori. In 2016, he started his PhD at the Institute of Neurorehabilitation Systems, UMG, Gottingen, Germany, under the supervision of Prof. Dario Farina and Dr Massimo Sartori and then moved in 2017 to the University of Twente, Enschede, the Netherlands to continue his PhD under the supervision of Prof. Herman van der Kooij and Assoc. Prof. Massimo Sartori. During his PhD, he won the Best Demo Award in 2018 at the 7th IEEE International Conference on Biomedical Robotics and Biomechatronic and Best paper Published by IEEE-EMBS in 2017-18, 3rd place at the 7th Dutch Bio-medical Engineering Conference. He is currently a Postdoc researcher at the Department of Biomechanical Engineering at the University of Twente, Enschede, the Netherlands. ISBN: 978-94-6421-122-1 DOI: 0.3990/1.9789464211221 Guillaume Durandau Towards the next Generation in Human-machine- interfacing: Controlling Wearable Robots via Neuromusculoskeletal Modelling Guillaume Durandau Towards the next Generation in Human-machine-interfacing: Controlling Wearable Robots via Neuromusculoskeletal Modelling DISSERTATION to obtain the degree of doctor at the Universiteit Twente, on the authority of the rector magnificus, Prof.dr. T.T.M. Palstra, on account of the decision of the Doctorate Board to be publicly defended on Friday 6 November 2020 at 10.45 by Guillaume Vincent Durandau Born the 26th of February 1990 in Toulon, France This dissertation has been approved by: Promotor: Prof.dr.ir. Herman van der Kooij Co-promotor & Supervisor: Dr. Massimo Sartori Cover design: Ir. Kyrian Staman and Guillaume Durandau Printed by: Ipskamp Printing Lay-out: Guillaume Durandau ISBN: 978-94-6421-122-1 DOI: 10.3990/1.9789464211221 © 2020 Guillaume Vincent Durandau, The Netherlands. All rights reserved. No parts of this thesis may be reproduced, stored in a retrieval system or transmitted in any form or by any means without permission of the author. Alle rechten voorbehouden. Niets uit deze uitgave mag worden vermenigvuldigd, in enige vorm of op enige wijze, zonder voorafgaande schriftelijke toestemming van de auteur. Graduation Committee: Chairman / Secretary: Prof.dr.ir. H.F.J.M. Koopman, University of Twente Promotor: Prof.dr.ir. Herman van der Kooij, Department of Biomechanical Engineering, University of Twente and Department of Biomechanical Engineering, Delft University of Technology Co-promotor & Supervisor: Dr. Massimo Sartori, Department of Biomechanical Engineering, University of Twente Committee: Prof.dr. Dario Farina, Department of Bioengineering, Imperial College London, UK Dr. Ajay Seth, Department of Biomechanical Engineering, Delft University of Technology Prof.dr. Jaap van Dieën, department of Human Movement Sciences, VU Amsterdam Prof.dr.MD Hans (J.S.) Rietman, Department of Biomechanical Engineering, University of Twente Prof.dr.ir. Gijs (J.M.) Krijnen, Department of Robotics and Mechatronics, University of Twente CONTENTS Biography 2 Awards 4 Publications 4 Peer-reviewed Journal Publications 4 Conference Publications 4 Summary 6 Introduction 9 1.1 Motivation 9 1.2 Approach 12 1.3 Goal 14 1.4 Outline of this dissertation 16 Robust Real-Time Musculoskeletal Modelling Driven By Electromyograms 18 2.1 Introduction 20 2.2 Real-time EMG-Driven Modelling 22 2.3 Experimental Procedures 28 2.4 Results 29 2.5 Discussion 32 2.6 Conclusion 34 Toward Muscle-Driven Control of Wearable Robots: a Real-Time Framework for the Estimation of Neuromuscular States During Human-Exoskeleton Locomotion Tasks 37 3.1 Introduction 39 3.2 Methods 41 3.3 Experiments 45 3.4 Results 46 I 3.5 Discussion 47 3.6 Conclusion 50 Voluntary Control of Wearable Robotic Exoskeletons by Patients with Paresis via Neuromechanical Modeling 53 4.1 Introduction 55 4.2 Methods 58 4.3 Results 69 4.4 Discussion 75 4.5 Conclusion 79 Voluntary and Continuous Control of Robotic Exoskeletons during a broad Repertoire of Locomotion Conditions 81 5.1 Introduction 83 5.2 Methods 84 5.3 Experiment 89 5.4 Results 91 5.5 Discussion 94 5.6 Conclusion 96 Conclusion 98 6.1 Summary of Key Findings 99 6.2 Impact and Relevance of the Scientific Contributions 101 6.3 Limitations and Directions for Future Research 102 6.4 Final Conclusion 104 References 106 Appendix 119 7.1 Appendix to Introduction 119 7.2 Appendix to Chapter 2 127 7.3 Appendix to Chapter 3 128 II 7.4 Appendix to Chapter 4 129 7.5 Appendix to chapter 5 139 Acknowledgements 141 III BIOGRAPHY Guillaume Vincent Durandau was born on February 26th, 1990 in Toulon, France. He obtained his engineering diploma at ISEN, Toulon, France, and his master's degrees at the University of Sherbrooke, Sherbrooke, Canada. The subject of his master was EMG Processing for Control of Robotic System under the supervision of Prof. Wael Suleiman. During his master's, he spent four months at the CINESTAV, Mexico working on human-robot interaction using IMU and EMG signals. He also obtained during his master, the Mitacs Globalink Research Award. At the beginning of 2014, he started as a research assistant at the Institute of Neurorehabilitation Systems, UMG, Gottingen, Germany, under the supervision of Prof. Dario Farina and Dr Massimo Sartori. In 2016, he started his PhD at the Institute of Neurorehabilitation Systems, UMG, Gottingen, Germany, under the supervision of Prof. Dario Farina and Dr Massimo Sartori and then moved in 2017 to the University of Twente, Enschede, the Netherlands to continue his PhD under the supervision of Prof. Herman van der Kooij and Assoc. Prof. Massimo Sartori. During his PhD, he won the Best Demo Award in 2018 at the 7th IEEE International Conference on Biomedical Robotics and Biomechatronic and Best paper Published by IEEE-EMBS in 2017-18, 3rd place at the 7th Dutch Bio-medical Engineering Conference. He is currently a Postdoc researcher at the Department of Biomechanical Engineering at the University of Twente, Enschede, the Netherlands. 2 https://orcid.org/0000-0001-6951- https://scholar.google.nl/citations?use 776X r=WuSjVn0AAAAJ&hl=en&oi=ao https://www.researchgate.net/profile https://publons.com/researcher/3184 /Guillaume_Durandau 322/guillaume-durandau/ 3 AWARDS 1. Best paper Published by IEEE-EMBS in 2017-18, 3rd place, 7th Dutch Bio-medical Engineering Conference. 2. Best Demo Award, 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). PUBLICATIONS Peer-reviewed Journal Publications 1. Durandau, G., Farina, D., & Sartori, M. (2017). Robust real-time musculoskeletal modeling driven by electromyograms. IEEE transactions on biomedical engineering, 65(3), 556-564. 2. Sartori, M., Durandau, G., Došen, S., & Farina, D. (2018). Robust simultaneous myoelectric control of multiple degrees of freedom in wrist-hand prostheses by real-time neuromusculoskeletal modeling. Journal of neural engineering, 15(6), 066026. 3. Durandau, G., Farina, D., Asín-Prieto, G., Dimbwadyo-Terrer, I., Lerma-Lara, S., Pons, J. L., ... & Sartori, M. (2019). Voluntary control of wearable robotic exoskeletons by patients with paresis via neuromechanical modeling. Journal of neuroengineering and rehabilitation, 16(1), 91. 4. Lotti, N., Xiloyannis, M., Durandau, G., Galofaro, E., Sanguineti, V., & Sartori, M. (2020). Adaptive model-based myoelectric control for a soft wearable arm exosuit: A new generation of wearable robot control. IEEE Robotics & Automation Magazine. Conference Publications 1. Romanato, M., Sartori, M., Durandau, G., Volpe, D., & Sawacha, Z. (2019). An EMG-informed modelling approach for the prediction of internal variables during locomotion in Parkinson's disease patients: a feasibility study. Gait & Posture, 74, 32-33. 2. Esteban, A. M., van’t Veld, R. C., Cop, C. P., Durandau, G., Sartori, M., & Schouten, A. C. (2019, July). Estimation of Time-Varying Ankle Joint Stiffness Under Dynamic Conditions via System Identification Techniques. In 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (pp. 2119-2122). IEEE. 3. Cop, C. P., Durandau, G., Esteban, A. M., van’t Veld, R. C., Schouten, A. C., & Sartori, M. (2019, July). Model-based estimation of ankle joint stiffness during dynamic tasks: a validation-based approach. In 2019 41st Annual International 4 Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (pp. 4104- 4107). IEEE. 4. Sartori, M., Durandau, G., Dosen, S., & Farina, D. (2018, October). Decoding phantom limb neuro-mechanical function for a new paradigm of mind-controlled bionic limbs. In International Conference on NeuroRehabilitation (pp. 54-57). Springer, Cham.