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Area of Science:

Biomedical Engineering
Rehabilitation Robotics
Biomechanics

Background:

NeuroMuscular Disorders (NMDs) impair daily activities, particularly upper-limb mobility.
Active Dynamic Arm Supports (DASs) aid individuals with severe mobility limitations.
Current DAS controls (push buttons) increase cognitive load and discomfort.

Purpose of the Study:

To develop and evaluate a novel force-based assistive control framework for active DASs.
To reduce the cognitive load and physical effort for users with NMDs.
To compensate for upper-limb gravity using a feedforward force strategy.

Main Methods:

Proposed four distinct feedforward force computation strategies based on a biomechanical upper-limb model.
Tuned the biomechanical model using anthropometric measurements.
Evaluated strategies quantitatively with nine participants using an active DAS prototype.
Measured muscle activity to compute the Mean Effort Index (MEI).

Main Results:

All four proposed force-based control strategies significantly reduced the Mean Effort Index (MEI).
The MEI, representing global effort to maintain pose, was statistically lowered (p < 0.001).
The strategies effectively compensated for upper-limb gravity, reducing muscle exertion.

Conclusions:

The developed force-based assistive control framework is effective in reducing user effort for active DASs.
This approach offers a promising alternative to conventional push-button controls for NMD patients.
Further research can optimize these strategies for enhanced user autonomy and comfort.