Synergy musculoskeletal model generated torques

Description of methods used for collection/generation of data: We developed a control framework for an ankle-powered prosthesis that is based on a neuromusculoskeletal model driven by muscle synergies, aimed at mimicking human motor control strategies during cyclic movements.Refer to recent publication for more details on the research goals and methodology : [1] (https://ieeexplore.ieee.org/abstract/document/10304814). The personalized muscle synergy model computes muscle excitations at each timestamp of every trial using sensory information: gait phase was calculated using real-time ground reaction forces information, speed information was measured from the instrumented treadmill.In this study, both the gait speed and the instantaneous phase information were employed to modulate respectively the weights and the muscle primitives. The gastrocnemius medialis activation signal was used to drive gastrocnemius medialis, gastrocnemius lateralis, and, soleus muscles because of the constraints imposed by the calibration procedure .The joint kinematics, derived from the internal encoder of the prosthesis, is required to compute muscle-tendon kinematics, hence the musculotendon length (Lmt) and moment arm (MA) were calculated using a set of MTU-specific multidimensional B-splines using the personalized musculoskeletal model [2]. For this analysis, we assumed the knee joint was fully extended.Further, we utilized the muscle activation signals and MTU lengths (Lmt) to compute the muscle-tendon forces . The joint torque at the ankle was the product of MTU forces and moment arms (MA); those values were first translated into current which was input to the closed-loop lower control to drive the prosthesis.The current dataset contains input and output to the subject-specific neuromusculoskeletal model of each subject tested in three different walking speed conditions.References :  [1] Damonte, F., Durandau, G., Gonzalez-Vargas, J., Van Der Kooij, H. and Sartori, M., 2023, September. Synergy-driven musculoskeletal modeling to estimate muscle excitations and joint moments at different walking speeds in individuals with transtibial amputation. In 2023 International Conference on Rehabilitation Robotics (ICORR) (pp. 1-6). IEEE.[2] Sartori, M., Reggiani, M., van den Bogert, A.J. and Lloyd, D.G., 2012. Estimation of musculotendon kinematics in large musculoskeletal models using multidimensional B-splines. Journal of biomechanics, 45(3), pp.595-601.