Lumped-parameter electromyogram-driven musculoskeletal hand model: A potential platform for real-time prosthesis control.

Simple, lumped-parameter musculoskeletal models may be more adaptable and practical for clinical real-time control applications, such as prosthesis control. In this study, we determined whether a lumped-parameter, EMG-driven musculoskeletal model with four muscles could predict wrist and metacarpophalangeal (MCP) joint flexion/extension. Forearm EMG signals and joint kinematics were collected simultaneously from 5 able-bodied (AB) subjects. For one subject with unilateral transradial amputation (TRA), joint kinematics were collected from the sound arm during bilateral mirrored motion. Twenty-two model parameters were optimized such that joint kinematics predicted by EMG-driven forward dynamic simulation closely matched measured kinematics. Cross validation was employed to evaluate the model kinematic predictions using Pearson׳s correlation coefficient (r). Model predictions of joint angles were highly to very highly positively correlated with measured values at the wrist (AB mean r=0.94, TRA r=0.92) and MCP (AB mean r=0.88, TRA r=0.93) joints during single-joint wrist and MCP movements, respectively. In simultaneous multi-joint movement, the prediction accuracy for TRA at the MCP joint decreased (r=0.56), while r-values derived from AB subjects and TRA wrist motion were still above 0.75. Though parameters were optimized to match experimental sub-maximal kinematics, passive and maximum isometric joint moments predicted by the model were comparable to reported experimental measures. Our results showed the promise of a lumped-parameter musculoskeletal model for hand/wrist kinematic estimation. Therefore, the model might be useful for EMG control of powered upper limb prostheses, but more work is needed to demonstrate its online performance.