Patent Application
20230233133
This application relates to wearable technology, and more specifically to the acquisition of signals indicative of movement and/or muscular activity from the body of a mammal, and in particular from humans.
Indeed, such situations can involve repeated movements or prolonged maintenance of posture which can lead to muscle fatigue. As muscle fatigue begins occurring, the nervous system typically compensates by changing motor unit recruitment and modifying the movement or static posture, which can cause a change of force application vectors on joints, leading to micro lesions and increased potential for inappropriate reaction to external perturbations. In the short-term, the reaction can be good because it can delay motor/work performance degradation. However, in the long-term, the reaction can lead to undesired symptoms such as those indicated above.
For instance, work, sports, and field operation related musculoskeletal injuries (W/S/FO-MSKI) represent a major source of injury and a principal economic burden in modern societies and in military operations. While the etiology of these disorders is multifactorial, the gradual, unaware development of muscle fatigue is likely a major contributor. High intensity and/or repetitive movements may lead to a gradual fatigue of small muscle compartments (‘motor units’). Muscle fatigue is normally experienced as a reduction in muscle force and/or the appearance of movement clumsiness. While the neural compensation is initially effective, it leads to a change in the way muscles pull on bones, thereby producing non-optimal force vectors around joints. With repetitive use, this may lead to early joint wear (osteoarthritis) or non-optimal response to unexpected perturbations, thereby increasing the risk of developing a musculoskeletal injury.
Similarly, upon return to work/play/field operations after injury, or during rehabilitation exercises performed early after injury, deconditioned muscles and pain can also lead to abnormal motor unit recruitment and put the person in a similar increased risk situation. Following of sport injury or work-related disease, patients often require a rehabilitation intervention. However, in real life conditions, it is challenging for health care professionals to acquire objective data and to monitor the performance of patients during the physical assessment. At the same time, laboratory assessment does not provide data accurately reflecting the reality of the patient's performance in real-life environments.
There remained room for improvement in terms of methods and systems for providing efficient, objective indications of muscle fatigue, in practical ways, and at an accessible cost.
In accordance with one aspect, there is provided a computer-implemented method of generating a composite indication of muscle fatigue of a mammal, the method comprising: acquiring measured sEMG median frequency values of successive portions of a sEMG signal within corresponding successive time windows, the sEMG signal being of muscular activity of the mammal, the muscular activity entraining a movement relative to a joint of the mammal; generating a first indication of muscle fatigue based on a comparison between at least one of the measured sEMG median frequency value and a reference median frequency value; acquiring a movement signal indicative of the movement; generating a second indication of muscle fatigue based on said movement signal; and generating a composite indication of muscle fatigue based on both the first indication of muscle fatigue and the second indication of muscle fatigue.
In accordance with another aspect, there is provided a method of generating an indication of muscle fatigue of a mammal wearing a fiber of an electrically conductive polymer material over a muscle having muscle fibers, the fiber extending along a fiber path having a length and a width, the length of the fiber path extending along a length of the fibers of the muscle, the method comprising: the muscle deforming the fiber path including activating a joint of the mammal; circulating electricity along the fiber, along the length of the fiber path; generating a movement signal including monitoring a change of impedance of the fiber stemming from the deformation of the muscle path during said deformation of the fiber path; determining a coefficient of correlation value of successive portions of the movement signal associated to corresponding, successive, time windows, including ascertaining a degree of similitude between the corresponding portion and a corresponding movement template; generating an indication of muscle fatigue based on said coefficient of correlation values.
In accordance with another aspect, there is provided a computer-implemented method of generating an indication of muscle fatigue of a mammal, the method comprising: acquiring a movement signal stemming from a fiber deforming upon movement of the mammal; measuring coefficient of correlation values of successive portions of the movement signal within corresponding time windows, the measured coefficient of correlation values representative of a degree of similarity between the successive portions of the movement signal and a corresponding movement template, generating an indication of muscle fatigue based on said measured coefficient of correlation values.
Said generating an indication of muscle fatigue can be based on a comparison between at least one of the measured coefficient of correlation values and a reference coefficient of correlation value.
The reference coefficient of correlation value can be a threshold coefficient of correlation value, wherein said generating an indication of muscle fatigue can be contingent upon on said measured coefficient of correlation value exceeding the threshold coefficient of correlation value.
The method can further comprise measuring a variability of said coefficient of correlation values over the successive portions of the movement signal, said generating an indication of muscle fatigue can be based on a comparison between at least one of said measured variability value and a reference variability value.
The reference variability value can be a threshold variability value, said generating a second indication of muscle fatigue being contingent upon said at least one measured variability value exceeding the threshold variability value.
The movement can be a repeated movement sequence, the method can further comprise recognizing individual ones of the movements in the sequence, and defining the time windows in a manner to match a corresponding time window to each one of the movements.
The method can further comprise defining the movement template based on one or more of said repeated movements.
The time windows can have a same, predetermined period of time and be immediately one after the other.
The method can further comprise defining the reference coefficient of correlation value based on one or more of said measured coefficient of correlation values.
The method can further comprise defining the reference variability value based on one or more measured variability values.
In accordance with another aspect, a computer program product stored in a non-transitory computer readable memory and operative to, when operated upon by a processor, perform the method.
In accordance with another aspect, there is provided a sensor for monitoring muscle activity of a mammal, the sensor comprising: an apparel wearable by a mammal in a manner to cover skin of the mammal, the covered skin extending over muscle of the mammal, the muscle having muscle fibers; a fiber of an electrically conductive polymer material, the fiber having a portion of its length forming a first electrode, the fiber secured to the apparel along a fiber path in a manner that the fiber path is deformable by deformation of the apparel, the fiber path having a length and a width defined relative the apparel in a manner that when the garment is worn by the mammal, i) the length of the fiber path extends along a length of the fibers of the muscle, the fiber path deforming when the muscle activates a joint of the mammal, ii) the portion forming the first electrode extends transversally relative to an orientation of muscle fibers of the muscle and is maintained into electrical contact with the skin by the apparel, and a second electrode secured to the apparel, spaced apart from the first electrode along the orientation of muscle fibers; and a first electrical connection to the portion of the fiber forming the first electrode, a second electrical connection to a point of the fiber spaced apart from the portion forming the first electrode along the length of the fiber path, and a third electrical connection to the second electrode.
The sensor can further comprise a third electrode secured to the apparel, and a third electrical lead connecting the third electrode.
The second electrode can be provided in the form of an other portion of the length of the fiber.
The fiber can be a first fiber, the sensor can further comprise a second fiber also having a movement detection portion, the other one of the electrodes being provided in the form of an electrode portion of the length of the second fiber.
The first fiber and the second fiber can be connected in a half full Wheatstone bridge configuration, the other one of the electrodes can be provided in the form of an electrode portion of the length of the second fiber.
The movement detection portions of the first and second fibers can have a same resistance and be secured to the apparel in a manner to deforming equally upon the movement.
A length of the fiber extending between the first electrode and the point connected by the second electrical lead can have a sinuous shape including a plurality of alternatingly oriented, transversally oriented curves.
The apparel can have an adhesive face covered by a removable layer and can be configured to be worn by the mammal by adhering its adhesive face to the skin of the mammal following removal of the removable layer.
The apparel can have an elastic band, and can be configured to be worn by the mammal by stretching the elastic band and releasing the elastic band in a manner to compressively trap a portion of mammal having the muscle therein.
The fiber can have at least 15 cm in length, preferably between 20 and 40 cm in length.
The sensor can further have a DC canceler secured to the apparel and forming part of the electrical connections.
The sensor can further have an interrogation system having an AC electrical drive configured to circulate electricity along an AC electrical drive circuit including the movement detection portion, a movement acquirer including an impedance meter associated to the AC electrical drive circuit and configured to measure a reaction of the circuit to the change of resistance of the fiber and generate a movement signal based on the measurement, a sEMG acquirer connected to the electrode portion and to another one of the electrodes to acquire a sEMG signal therebetween.
The AC electrical drive can have a frequency outside a sEMG frequency bandwidth of at least 15-250 Hz, at least 10-350 Hz, or at least 0-600 Hz.
The sensor can further comprise a DC canceler in the AC electrical drive circuit.
The sensor can further comprise a filter shielding the sEMG acquirer from a frequency of the AC electrical drive.
The sensor can further comprise a filter shielding the movement acquirer from a sEMG bandwidth.
The sEMG acquirer can include reference voltage setpoint connectable to yet another one of the electrodes.
The sensor can further comprise at least one analog to digital converter operatively connected to convert the sEMG signal and the movement signal from analog to digital.
The sensor can further comprise a transmitter configured to emit a signal based on the sEMG signal and on the movement signal.
The sEMG acquirer and/or the movement acquirer can include an amplifier.
The movement acquirer and the sEMG acquirer can share a connection to the electrode portion and to the second electrode, the sensor can further comprise a filter to direct a movement frequency bandwidth to the movement meter, and to direct a sEMG bandwidth excluding the movement frequency bandwidth to a sEMG differential voltage meter.
The fiber can be a first fiber, the sensor can further comprise a second fiber also having a movement detection portion, the other one of the electrodes can be provided in the form of an electrode portion of the length of the second fiber, and the AC electrical drive circuit can be connectable to include the movement detection portions of both the first fiber and the second fiber and to circulate electricity equally along both movement detection portions, the movement detection portions having a same resistance and deforming equally by the target movement.
The electrode portion can be a first electrode portion, the second can be in the form of a second electrode portion of the length of the fiber, the AC electrical drive can have an oscillator having a resonance frequency modulated by the change of resistance, and the impedance meter can be configured to measure the resonance frequency.
The sensor can further comprise a coefficient generator configured to measure coefficient of correlation values of successive portions of the movement signal within corresponding time windows, the measured coefficient of correlation values representative of a degree of similarity between the successive portions of the movement signal and a corresponding movement template.
The sensor can further comprise a coefficient indication generator configured to generate a coefficient indication of muscle fatigue can be based on said measured coefficient of correlation values.
Generating the coefficient indication of muscle fatigue can be based on a comparison between at least one of the measured coefficient of correlation values and a reference coefficient of correlation value.
The reference coefficient of correlation value can be a threshold coefficient of correlation value, the generating a coefficient indication of muscle fatigue can be contingent upon on said measured coefficient of correlation value exceeding the threshold coefficient of correlation value.
The sensor can further comprise a variability determinator configured to measure a variability of said coefficient of correlation values over the successive portions of the movement signal, and a variability indication generator configured to generate an variability indication of muscle fatigue based on a comparison between at least one of said measured variability value and a reference variability value.
The variability value can be a threshold variability value, said generating a variability indication of muscle fatigue being contingent upon said at least one measured variability value exceeding the threshold variability value.
The sensor can further comprise a median frequency calculator configured to measure sEMG median frequency values of successive portions of a sEMG signal within corresponding successive time windows.
The sensor can have a sEMG indication generator configured to generate a sEMG indication of muscle fatigue based on a comparison between at least one of the measured sEMG median frequency value and a reference median frequency value.
The reference median frequency value can be a threshold reference median frequency value, the generating the sEMG indication of muscle fatigue of muscle fatigue can be contingent upon said sEMG median frequency value exceeding the threshold reference median frequency value.
The sensor can further comprise a composite indication generator configured to trigger an alarm from a user interface contingent upon the sEMG indication of muscle fatigue and further based on the measured coefficient of correlation values.
The targeted movement can be a repeated movement sequence, wherein the interrogation system further comprise a window determinator configured for recognizing individual ones of the movements in the sequence, and defining the time windows in a manner to match a corresponding time window to each one of the movements.
The movement template can be constructed based on one or more of said repeated movements.
The time windows can have a same, predetermined period of time and be immediately one after the other.
The sEMG indication generator can be further configured to define the reference median frequency value based on one or more of said measured sEMG median frequency values.
The correlation indication generator can be further configured to define the reference coefficient of correlation value based on one or more of said measured coefficient of correlation values.
The variability indication generator can be further configured to define the reference variability value based on one or more of the measured variability values.
In accordance with another aspect, there is provided a system for interrogating a sensor having a fiber of an electrically conductive material wearable in a manner for a movement detection portion of the length of the fiber to be deformed by a target movement, the resistance of the fiber deforming upon said deformation, and a plurality of electrodes, at least one of the electrodes being provided in the form of an electrode portion of the length of the fiber, the system comprising: an AC electrical drive configured to circulate electricity along an AC electrical drive circuit connectable to include the movement detection portion, a movement acquirer including an impedance meter associated to the AC electrical drive circuit and configured to measure a reaction of the circuit to the change of resistance of the fiber and generate a movement signal based on the measurement, and a sEMG acquirer connectable to the electrode portion and to another one of the electrodes to acquire a sEMG signal therebetween.
The AC electrical drive can have a frequency outside a sEMG frequency bandwidth of at least 15-250 Hz, at least 10-350 Hz, or of at least 0-600 Hz.
The system can further comprise a DC canceler in the AC electrical drive circuit.
The system can further comprise a filter shielding the sEMG acquirer from a frequency of the AC electrical drive.
The system can further comprise a filter shielding the movement acquirer from a sEMG bandwidth.
The sEMG acquirer can include a reference voltage setpoint connectable to yet another one of the electrodes.
The system can further comprise at least one analog to digital converter operatively connected to convert the sEMG signal and the movement signal from analog to digital.
The system can further comprise a transmitter configured to emit a signal based on the sEMG signal and on the movement signal.
The sEMG acquirer and/or the movement acquire can include an amplifier.
The movement acquirer and the sEMG acquirer can share a connection to the electrode portion and to the other electrode, the system can further comprise a filter to direct a movement frequency bandwidth to the movement meter, and to direct a sEMG bandwidth excluding the movement frequency bandwidth to a sEMG differential voltage meter.
The system can further comprise the sensor, wherein the fiber is a first fiber, the sensor can further comprise a second fiber also having a movement detection portion, the first fiber and the second fiber being in a half full Wheatstone bridge configuration, the other one of the electrodes being provided in the form of an electrode portion of the length of the second fiber.
The fiber can be a first fiber, the sensor can further comprise a second fiber also having a movement detection portion, the other one of the electrodes being provided in the form of an electrode portion of the length of the second fiber.
The AC electrical drive circuit can be connectable to include the movement detection portions of both the first fiber and the second fiber and to circulate electricity equally along both movement detection portions, the movement detection portions having a same resistance and deforming equally by the target movement.
The electrode portion can be a first electrode portion, the other electrode being provided in the form of a second electrode portion of the length of the fiber, the AC electrical drive can have an oscillator having a resonance frequency modulated by the change of resistance, and the impedance meter can be configured to measure the resonance frequency.
The system can further comprise a coefficient generator configured to measure coefficient of correlation values of successive portions of the movement signal within corresponding time windows, the measured coefficient of correlation values representative of a degree of similarity between the successive portions of the movement signal and a corresponding movement template.
The system can further comprise a coefficient indication generator configured to generate a coefficient indication of muscle fatigue can be based on said measured coefficient of correlation values.
Generating the coefficient indication of muscle fatigue can be based on a comparison between at least one of the measured coefficient of correlation values and a reference coefficient of correlation value.
The reference coefficient of correlation value can be a threshold coefficient of correlation value, said generating a coefficient indication of muscle fatigue can be contingent upon on said measured coefficient of correlation value exceeding the threshold coefficient of correlation value.
The system can further comprise a variability determinator configured to measure a variability of said coefficient of correlation values over the successive portions of the movement signal, and a variability indication generator configured to generate an variability indication of muscle fatigue based on a comparison between at least one of said measured variability value and a reference variability value.
The reference variability value can be a threshold variability value, said generating a variability indication of muscle fatigue being contingent upon said at least one measured variability value exceeding the threshold variability value.
The system can further comprise a median frequency calculator configured to measure sEMG median frequency values of successive portions of a sEMG signal within corresponding successive time windows.
The system can further comprise a sEMG indication generator configured to generate a sEMG indication of muscle fatigue based on a comparison between at least one of the measured sEMG median frequency value and a reference median frequency value.
The reference median frequency value can be a threshold reference median frequency value, the generating the sEMG indication of muscle fatigue of muscle fatigue being contingent upon said sEMG median frequency value exceeding the threshold reference median frequency value.
The system can further comprise a composite indication generator configured to trigger an alarm from a user interface contingent upon the sEMG indication of muscle fatigue and further based on the measured coefficient of correlation values.
The targeted movement can be a repeated movement sequence, the system can further comprise a window determinator configured for recognizing individual ones of the movements in the sequence, and defining the time windows in a manner to match a corresponding time window to each one of the movements. The movement template can be defined based on one or more of said repeated movements. The time windows can have a same, predetermined period of time and are immediately one after the other.
The sEMG indication generator can be further configured to defining the reference median frequency value based on one or more of said measured sEMG median frequency values.
The correlation indication generator can be further configured to define the reference coefficient of correlation value based on one or more of said measured coefficient of correlation values.
The variability indication generator can be further configured to define the reference variability value based on one or more of the measured variability values.
In accordance with another aspect, there is provided a method of interrogating a sensor having a fiber of an electrically conductive material wearable in a manner for a movement detection portion of the length of the fiber to be deformed by a target movement, the resistance of the fiber deforming upon said deformation, and a plurality of electrodes, at least one of the electrodes being provided in the form of an electrode portion of the length of the fiber, the method comprising: circulating AC electricity along an AC electrical drive circuit including the movement detection portion, measuring a reaction of the circuit to the change of resistance of the fiber, thereby generating a movement signal, acquiring a sEMG signal from the electrode portion and another one of the electrodes.
The AC electricity can have a frequency outside a sEMG frequency bandwidth of at least 15-250 Hz, at least 10-350 Hz, or of at least 0-600 Hz.
The method can further comprise cancelling any DC component in the AC electrical drive circuit.
The method can further comprise shielding the sEMG acquisition from a frequency of the AC electrical drive.
The method can further comprise shielding the movement signal from a sEMG bandwidth.
The method can further comprise imparting a reference voltage setpoint to yet another one of the electrodes.
The method can further comprise converting the sEMG signal and the movement signal from analog to digital.
The method can further comprise a emitting a signal based on both the sEMG signal and on the movement signal.
The method can further comprise amplifying the sEMG signal.
The method can further comprise amplifying the movement signal.
The method can further comprise splitting the AC frequency from the sEMG bandwidth.
The method can further comprise the target movement deforming the sensor, wherein the fiber can be a first fiber, the sensor can further comprise a second fiber also having a movement detection portion, the first fiber and the second fiber being in a half full Wheatstone bridge configuration, the other one of the electrodes being provided in the form of an electrode portion of the length of the second fiber, the method can further comprise acquiring a signal including the movement signal superposed to the sEMG signal from the half full Wheatstone bridge configuration.
The method can further comprise the target movement deforming the sensor wherein the fiber can be a first fiber, the sensor method can further comprise a second fiber also having a movement detection portion, the other one of the electrodes being provided in the form of an electrode portion of the length of the second fiber.
Circulating AC electricity can include circulating AC electricity equally along the movement detection portions of both the first fiber and the second fiber, the movement detection portions deforming and resisting to said electricity equally during the target movement.
The electrode portion can be a first electrode portion, the other electrode being provided in the form of a second electrode portion of the length of the fiber, wherein the AC electrical drive can have an oscillator having a resonance frequency modulated by the change of resistance, and measuring the resistance can include measuring the resonance frequency.
The method can further comprise measuring coefficient of correlation values of successive portions of the movement signal within corresponding time windows, the measured coefficient of correlation values representative of a degree of similarity between the successive portions of the movement signal and a corresponding movement template.
The method can further comprise generating a coefficient indication of muscle fatigue can be based on said measured coefficient of correlation values.
Generating the coefficient indication of muscle fatigue can include comparing at least one of the measured coefficient of correlation values to a reference coefficient of correlation value. The reference coefficient of correlation value can be a threshold coefficient of correlation value, wherein said generating a coefficient indication of muscle fatigue can be contingent upon on said measured coefficient of correlation value exceeding the threshold coefficient of correlation value.
The method can further comprise measuring a variability of said coefficient of correlation values over the successive portions of the movement signal, and generating an variability indication of muscle fatigue including comparing at least one of said measured variability value to a reference variability value. The reference variability value can be a threshold variability value, said generating a variability indication of muscle fatigue being contingent upon said at least one measured variability value exceeding the threshold variability value.
The method can further comprise measuring sEMG median frequency values of successive portions of a sEMG signal within corresponding successive time windows. The method can further comprise generating a sEMG indication of muscle fatigue based on a comparison between at least one of the measured sEMG median frequency value and a reference median frequency value. The reference median frequency value can be a threshold reference median frequency value, the generating the sEMG indication of muscle fatigue of muscle fatigue being contingent upon said sEMG median frequency value exceeding the threshold reference median frequency value.
The method can further comprise triggering an alarm from a user interface contingent upon the sEMG indication of muscle fatigue and further based on the measured coefficient of correlation values.
The targeted movement can be a repeated movement sequence, the method can further comprise recognizing individual ones of the movements in the sequence, and defining the time windows in a manner to match a corresponding time window to each one of the movements.
The method can further comprise defining the movement template based on one or more of said repeated movements.
The time windows can have a same, predetermined period of time and be immediately one after the other.
The method can further comprise defining the reference median frequency value based on one or more of said measured sEMG median frequency values.
The method can further comprise defining the reference coefficient of correlation value based on one or more of said measured coefficient of correlation values.
The method can further comprise defining the reference variability value based on one or more of the measured variability values.
In accordance with other aspects, there is provided a method, device and system to acquire a signal indicative of body movement compatible with the reality of wearable technology. There is also provided a method of obtaining an indication of fatigue and/or risk of injury on the basis of the signal indicative of body movement.
In accordance with other aspects, there is provided a method, device and system to acquire both a signal indicative of body movement and an EMG signal compatible with the reality of wearable technology. There is also provided a method of obtaining an indication of muscle fatigue and/or risk of injury on the basis of the combination of the signal indicative of body movement and the EMG signal. The latter method can be used as a basis of generating a signal warning a wearer of the device of muscle fatigue and/or a risk of injury, or to complete a report to later be communicated to an expert, for instance.
In accordance with one aspect, there is provided a system to acquire a signal indicative of movement of a mammal's body portion relative to an joint of the mammal, the system comprising a fiber having a resistance that varies upon deformation, the fiber being elongated, made of an electrically conductive material, and securable to the mammal's body portion in a manner to deform upon movement of the mammal's body portion, an electrical power source connected to circulate electricity along the length of the fiber, and a meter to measure a response signal of the fiber to the circulation of electricity.
It will be understood that the expression “computer” as used herein is not to be interpreted in a limiting manner. It is rather used in a broad sense to generally refer to the combination of some form of one or more processing units and some form of non-transitory memory system accessible by the processing unit(s). The use of the expression “computer” in its singular form as used herein includes within its scope the combination of a two or more computers working collaboratively to perform a given function. Moreover, the expression “computer” as used herein includes within its scope the use of partial capacities of a processing unit of an elaborate computing system also adapted to perform other functions. Similarly, the expression ‘controller’ as used herein is not to be interpreted in a limiting manner but rather in a general sense of a device, or of a system having more than one device, performing the function(s) of controlling one or more device such as an electronic device or an actuator for instance.
It will be understood that the various functions of a computer or of a controller can be performed by hardware or by a combination of both hardware and software. For example, hardware can include logic gates included as part of a silicon chip of the processor. Software can be in the form of data such as computer-readable instructions stored in the memory system. With respect to a computer or a controller, the expression “configured to” relates to the presence of hardware or a combination of hardware and software which is operable to perform the associated functions.
Many further features and combinations thereof concerning the present improvements will appear to those skilled in the art following a reading of the instant disclosure.
In the figures,
As presented above, muscle fatigue can entrain variations in the muscle force or agility of muscle recruitment, as well as in movement such as by a noticeable change in movement. From a wearable sensor point of view, different signals can be used as a basis of forming an objective indication of muscle fatigue. Two of such signals will be discussed herein: electromyography (EMG), and more specifically surface electromyography (sEMG), and movement monitoring. Indeed, muscle fatigue can entrain reduction of the median frequency of sEMG. Accordingly, monitoring the median frequency, and determining whether it has reduced in excess of a given threshold, can form the basis of one indicator of muscle fatigue. Comparably, muscle fatigue typically entrains an effect in the movement of the user. In a static posture, such as holding a heavy object with one hand and the arm oriented horizontally for instance, muscle fatigue typically entrains a weakening of the solicited muscle(s), and eventually causes lowering of the arm in the latter example. In a repeated dynamic movement, muscle fatigue can also frequently entrain some change in the movement over time, and measuring this variation, and determining if it has exceeded a given threshold, can form the basis of another indicator of muscle fatigue (and we will see that by monitoring movement, we can obtain more than one indicator of muscle fatigue, since a first indicator can be obtained by measuring a change in the movement, and a second indicator can be obtained by measuring a change in the variability of the movement).
It was found that while such indicators of muscle fatigue can be relevant in and of themselves, their individual limitations could be alleviated to a certain extent by using them in combination to provide a composite indicator of muscle fatigue. This is illustrated in
Let us now examine each of these potential indications of muscle fatigue individually, before exploring potential ways of acquiring them both and generating such a composite indication of muscle fatigue.
sEMG
sEMG, to begin, is typically acquired by applying electrodes 12, 14 into contact with the skin covering muscle tissue, such as schematized in
Returning to
The thresholds can be predetermined, or defined in real time. For instance, if one wishes to monitor fatigue by sEMG median frequency monitoring, the threshold can be defined in the form of a shift from an earlier measured value of sEMG median frequency associated to a given user in a given context of use, or from an average of earlier measured values, for instance, and the indication of muscle fatigue can triggered, or increased, when the detected value exceeds the defined shift threshold or otherwise experiences an increasing shift relative to earlier measured values.
Although the signal to noise ratio can likely be improved by selecting more costly electronics, in one example, it was found satisfactory to use a differential mode of measurement using two fiber electrodes and one reference electrode. The two fiber electrodes were positioned in a manner to measure essentially the same biopotential sEMG. In other words, they are positioned on the same muscle. The reference electrode is positioned on a non-articulated portion of the user's body. The difference between the first fiber sensor and the reference electrode is attributed a positive voltage, and the difference between the second fiber sensor and the reference electrode is attributed a negative voltage. Much of the noise (n) generated by the electronics is equally applied to both signals. The second signal, essentially −sEMG+n, is subtracted from the first signal, essentially sEMG+n, yielding 2sEMG, which was found to be a suitable and relatively low cost solution at least in some embodiments.
It is also possible to obtain an indication of muscle fatigue using sEMG on a user subjected to static muscle contraction (i.e. maintained posture). This can be performed, for instance, by measuring the power spectrums and median frequencies of sEMG signals acquired via fiber sensors, for given time intervals (e.g. 1 second). This has been successfully measured on users wearing electrodes on the shoulder muscles, and holding the arm at 90 degrees for as long as they could. The median frequency dropped below the 95% confidence interval of the initial sEMG Power spectrum median frequency, typically before reaching about 50% of the time elapsed between the beginning of the arm holding and the moment where the user considered him/herself incapable of maintaining the requested posture.
Movement
Movement can be monitored in various ways, some more elaborate than others. One such way which will be explored in great detail in this specification is by using a sensor having an electrically conductive polymer fiber, designed in a manner for the electrical resistance of the fiber to change when the fiber is bent or otherwise deformed. Other ways of obtaining an indication of movement which can be used in some alternate embodiments can include artificial vision associated with acquisition of the movement within the field of view of a camera, for instance, or a mechanical robotic structure which can be worn by the user and include sensors associated with one or more articulation thereof, configured in a manner for the articulations to be activated, the extent of which is sensed by the sensor(s), when the user exhibits a movement of interest. In at least some embodiments, it was found that the fiber movement sensor referred to above exhibited advantages over the latter examples, for reasons such as ease of use and cost, for instance.
Various materials can be used for the electrically conductive polymer fiber, and a discussion dedicated to this topic will be provided further below.
For now, we will simply summarize this technique by referring to
Turning now to
Returning to
Indeed, two use cases are possible: the case of a static posture 48 such as exemplified in
Indeed, when individuals make repetitive movements such as gait, movement kinematics are stereotyped. While the exact movement features vary across individuals, they can be very repeatable for a given person and form a sort of ‘movement signature’ (coefficient of variation <=10%). The low variability of movement signatures can be used to detect the gradual development of muscle fatigue using a technique called ‘template matching’. First, a reference template (TREF) can be created by averaging a series of initial movement, this can be the first 10-20 movements performed by a user, or to factor in changes in user movement that can occur over time, such as due to a change of weight or a change in muscle force, or long-term learning, it can be reset periodically, such as by taking the first 10-20 movements every day for instance. Considering the low variability of repetitive movements, TREF represents the non-fatigued standard of reference. In the context where it is created each day for each participant, TREF can be highly individually tailored. Muscle fatigue is known to modify movement kinematics, and in particular, to cause a reduction in movement speed and an increase in movement variability.
One difference in which the way the process works between the static and dynamic scenarios is the way the portion of the signal, which will be referred to as the time window, is defined. In the case of a static scenario, the time window can be regularly predefined, such as a sequence of X second time windows for instance (where the number X can be selected in a suitable manner in view of a specific embodiment), and the main focus can be to see whether, for example, a movement is detected over time. In the dynamic scenario, the time windows can be actively defined using a module or function which can be referred to herein as the time window definer 54, which recognizes the presence of a repeated movement, and can then separate the signal timespan into windows w1, w2, w3, wn . . . corresponding to individual ones of the movements. Two separate indications of muscle fatigue can be obtained from this general process. The module or function responsible for generating the indication(s) of muscle fatigue can be referred to herein as the indication generator 56.
The first indication of muscle fatigue which can be obtained from this process will be referred to as a first order indication, and can simply be based on the amplitude of the correlation coefficient. A given deviation threshold can be defined, such as by including the corresponding threshold value 58 as data in the memory of the computer for instance, and shifting of the correlation coefficient over time can be measured, and compared to the threshold value 58. An indication of muscle fatigue can be triggered contingent upon the shifting of the correlation coefficient in excess of the threshold 58, for instance. This indication can be particularly useful in the static scenario, for instance.
The second indication of muscle fatigue which can be obtained from this process will be referred to as a second order indication, and can be based not on the amplitude of the correlation coefficient, but on the degree of variability of the correlation coefficient over time, which can be an objective indication of an increased wobbliness or clumsiness of the user stemming from muscle fatigue. The module or function responsible for generating the variability of the correlation coefficient can be referred to as the variability determinator 60 herein. A given deviation threshold 58 can be defined, such as by including the corresponding value as data in the memory of the computer for instance, and shifting of the degree of variability over time can be measured, and compared to the threshold. An indication of muscle fatigue can be triggered contingent upon the shifting of the degree of variability in excess of the threshold, for instance. As can be understood, in this specification, the expression “exceeding” is used both to refer to a scenario where a given value is below a given threshold, and where a given value is above a given threshold, for the sake of simplicity.
The thresholds can be predetermined, or defined in real time. For instance, if one wishes to monitor fatigue by movement detection, the threshold can be defined in the form of a shift from an earlier measured value, or from an average of earlier measured values (such as from a number of earlier dynamic movements or from an earlier period of static posture), for instance, and the indication of muscle fatigue can triggered when the detected value exceeds the defined shift threshold. In another example, the threshold can be set in a fixed predetermined manner, such as by setting the threshold as a given value of correlation coefficient under which the indication of muscle fatigue is triggered, for instance.
Combination of Movement and sEMG
In order to be able to alert a user in real time, the indicators need to be generated relatively simultaneously, meaning within a timeframe which is small compared to the timeframe within which an alarm should be triggered if we are to alert the user in advance of an undesired consequence such as an injury. There are specific challenges in achieving this while also providing a suitable degree of precision in the indication and a device of a sufficiently low cost to make it commercially viable/appealing.
One approach can be to provide a sensor which includes the sEMG electrodes and the sEMG acquirer separately from the movement sensor and the movement acquirer. However, this requires independent hardware and does not benefit from any potential hardware sharing economy, and may not be considered commercially viable/appealing in all embodiments.
Another approach can be to share hardware between the subsystems. For instance, the fiber 40 is electrically conductive, and could therefore serve as the basis for using it as one electrode 12, such as schematized in
However, in such scenarios, the electrical drive of the movement acquirer can generate electricity within the user's skin which can interfere with the subtle sEMG signal which the sEMG acquirer 16 is designed to acquire. This may also be the case in scenarios where the sEMG acquirer 16 and electrodes 12, 14 are provided entirely independently from the fiber and movement acquirer 42 from the electrical point of view, especially when they are used in proximity with each other, which can be required for obtaining two independent indicators associated to a localized muscle or joint.
To avoid this interference, it can be required to multiplex the signals in one way or another. One way to multiplex the signals is to multiplex over time. In other words, to acquire the sEMG signal and the movement signal at alternating moments in time. There can be some complexities to achieve this without a dissuasive amount of noise from the hardware perspective, and an additional inconvenience is that since the sEMG and the movement signals are not achieved simultaneously, this can cause a delay in the generation of an eventual alarm destined to the user, which may be undesired.
One way to allow the acquisition of the sEMG and movement signals simultaneously is to multiplex the signals over the frequency domain. An example of this is schematized in
Example ways to embody such electronics of the system will be presented further below, but first, we will look into the question of the interface into further detail.
Fiber Material
Various polymer materials can represent suitable properties of being electrically conductive while having a resistance which changes when it is deformed. The exact choice thereof can be left to the designer of a specific embodiment, and can be affected by the exact embodiment. One may wish, for instance, to strike a suitable balance between conductivity, flexibility and durability.
In many embodiments, the fiber should be suitably long, i.e. more than 10 cm, more than 15 cm, and many applications will benefit from a length of fiber of between 20 and 40 cm. The process of making such a fiber can vary from one application to another, and the specifics of two example fibers will be presented here for the purpose of providing illustrative examples from which a designer can inspire him/herself in the production of a suitable fiber in view of a specific embodiment.
In one example embodiment, tests were conducted on the basis of a matrix of ethylene and vinyl-acetate, more specifically Poly(ethylene-co-vinyl acetate)—(PEVA). This choice was made on the basis that it was a thermoplastic polymer easily accessible on the market and having a relatively low cost, and being relatively easy to use. Carbon nanotubes and graphite are examples of conductive materials which can be incorporated into the polymer matrix to give electrical conductivity to the fiber in a relatively precisely predefined concentration. In this embodiment, it was determined that current would likely pass more easily along the fibers of the nanotubes than across the layers of graphite fibers, and therefore carbon nanotubes were selected. In the tested example, >98% purity, multi-walled carbon nanotubes (MWCNTs) were selected as the conductive material.
10 different mixes were tested with different concentrations of carbon nanotubes in a PEVA polymer matrix. More specifically, concentrations of 10% by weight of carbon nanotubes to 100% by weight of carbon nanotubes (1 g carbon for 1 g PEVA) were tested, produced using cold syringe extrusion. The most interesting results were in the range of weights of carbon nanotubes having 50-80% of the weight of EVA. It is believed that slightly more and slightly less could also be suitable. Weight ratio around 60% appeared ideal in this embodiment. At higher carbon nanotube weight ratios, the fibers became so brittle that there were less interesting from the point of view of repeated uses, especially if intended for use in clothing where washing processes can generate significant stress on the fibers. At lower carbon nanotube weight ratios, the fiber sensor created more resistance and was less well adapted to reading sEMG signals. Resistance values between 8 and 10 Ohms/cm were considered interesting. In the case of MWCNTs and PEVA, it can be preferred to perform the sonication in tetrahydrofuran for instance, and to dry the resultant colloidal solution in an oven at 100 C for 15 min to obtain a composite with high viscosity.
Various forms of testing were conducted on such fibers, and following this testing, there remained good candidates for use in wearable technology incorporated to an elastically stretchable apparel. Indeed, they were exposed to Palmolive (pH 7) detergent for an equivalent of over 25 washing cycles. Although the test fiber sensors loss on average about 5% of their conductivity following the washes, this was considered satisfactory. Similar tests were made in a washing machine with Tide Advanced Power detergent. This did not cause a significant reduction in conductivity, and the fiber sensors were thus considered resistant to washing machines. Resistance to sweat was also tested. 11 samples of 2 cm each were tested with 1.5 mL of saline solution for different durations ranging from 3 minutes to 5 hours. This did not lead to any significant degradation of the electrical conductivity. The material was also tested with urea in a concentration of about 27 grams/25 mL of water. In cases where the urea solution was allowed to dry, a loss of conductivity was detected, however this loss of conductivity was reversed after washing with a Tide detergent, and therefore it was concluded that the fiber sensors with this combination of materials was resistant to sweat for even after 6 hours exposure.
A conductive polymer fiber with customized length and diameter was prepared using the resulting material by an extrusion technique using a syringe mounted on an extrusion machine. After loading the syringe with the prepared composite, continuous fibers were extruded on a low-energy surface sheet then cured in an oven for 25 min at 85° C.
Typically, increasing the % mass of carbon relative to the % mass of flexible polymer will result in an increase in electrical conductivity (i.e. lower resistance) at the tradeoff of a loss of flexibility. The exact choice may be best made as a function of the details of a specific application, such as taking into consideration the exact area where the fiber electrode sensor is intended to be used on the body of the mammal. In applications where both flexibility and electrical conductivity are relevant factors, and depending on the exact choice of polymer used, and in the particular case of a PDMS matrix, compositions having between 5 wt % and 7 wt % of carbon can be of particular interest and offer an interesting balance between flexibility and conductivity.
Fiber Path and Connection Configurations
It was found that somewhat different considerations existed whether one takes the point of view of optimizing the fiber, and system, for sEMG acquisition or the point of view of optimizing the fiber, and system, for movement acquisition. Let us now explore these considerations and then the question of striking a balance between the two.
Indeed, in general, when taking the point of view of sEMG acquisition, greater electrical conductivity can be preferred, and the quality of the electrical contact between the fiber and the skin is highly relevant as it affects the quality of the electrical “connection” between the fiber and the signal. It was found, in particular, that when using a portion of the length of a fiber as an electrode, better signal quality was obtained when the electrode portion of the fiber was oriented transversally relative to the orientation of the muscle fibers. Moreover, the sEMG signal having a low amplitude, sensitivity of acquisition can be a particular concern. Amplification and cancellation of noise can be particularly useful, depending on the embodiment.
When taking the point of view of movement acquisition, the extent of resistance change upon deformation can be one feature that one may wish to increase to the extent possible, to provide a greater sensitivity to the movement acquisition. Moreover, the portion, or entirety, of the length of the fiber which serves as a basis for movement acquisition does not need to be in good electrical contact with the user's skin, it only needs to occupy a fiber path defined relatively to the wearer and which reliably deforms when the target muscle is activated, or when the target movement otherwise occurs. When effectively multiplexed relative the sEMG frequencies and DC-shielded from the electrodes, the amplitude of the movement signal can, in some embodiments, be increased by raising the amplitude of the AC drive, which can, to a certain extent, make questions of sensitivity easier to resolve.
The notion of defining a fiber path and electrode configuration relative to the wearer may appear, at first glance, somewhat abstract, when looking at the sensor when it is not being worn by the wearer, but we will see that in practice, it is not abstract at all. Indeed, although there can be many uses for such a sensor, some of which may be in medical environments, others of which may be in sports environments, and that specific uses can target different joints or movements of the wearer, such uses will typically be predetermined from the point of view of designing the particular sensor.
In other words, different sensors will be designed specifically for corresponding uses, and the fiber path will be defined relative to the corresponding apparel, and the corresponding apparel will be specifically designed to be worn in a manner associated to the specific use.
For instance, in
If the sensor is designed to cover the hip of the wearer, or the lower back, or the ankle, to name some possible alternate examples, the size and shape of the apparel, the size and shape of the fiber(s), and the path occupied by the fiber(s) when it is incorporated to the apparel, will be adapted specifically to the target movement/use. Generally, this can involve orienting the major dimension of the movement portion of the fiber along the length of the associated muscle fibers, and can also involve orienting the length of the electrode portion(s) of the fiber(s) transversally to the length of the associated muscle fibers to favor sEMG signal quality.
Adhesive textile element apparel types may be well suited for single-use applications, which may more frequently occur, for instance, in medical situations. In other situations, it may be preferred to design the sensor in a manner to be re-usable, at least to a certain extent, which can more frequently occur, for instance, in consumer or athlete sport situations. One type of apparel which may be more suitable for re-usable applications can be apparels provided in the form of garments made of elastic material and designed to be stretched upon mounting to the corresponding body part, and then released to hold in place simply by compression. In still other situations, it can be preferred to use apparel which includes garments having limited elasticity, but which can be affixed onto the body parts with fastener elements such as Velcro.
Independently of the specific form of apparel selected to form the support to the fiber(s), the apparel can have the function of holding the fiber(s) in a predetermined fiber path relative to the wearer for movement acquisition, and holding the electrodes into electrical contact with the wearer's skin for sEMG acquisition.
Such a system can include a group of elements which can be referred to collectively as a sEMG acquirer, and whose functionality can be summarized as to extract an electronically useable sEMG signal from the sensor. Such a system can also include a group of elements which can be referred to collectively as a movement acquirer, and whose functionality can be summarized as to extract an electronically useable movement signal from the sensor. In one embodiment, sEMG acquirer can include an amplifier, an analog to digital converter, and means to set the Vref voltage in the reference electrode, though it will be understood that in some alternate embodiments, one or more of these components can be omitted or substituted by something else. In one embodiment, the movement acquirer can include an AC electrical drive, an amplifier and an analog to digital converter, though it will be understood that in some alternate embodiments, one or more of these components can be omitted or substituted by something else. In some embodiments, one or more of the elements can be shared between the sEMG acquirer and the movement acquirer to achieve hardware economy.
Such a system can also include one or more elements which can be referred to collectively as a demultiplexer, and which can include one or more filters, for instance, to direct corresponding frequencies to the sEMG acquirer and to the movement acquirer, such as in a scenario where the AC electrical drive operates at a frequency which is outside the sEMG bandwidth of interest. The filters can also be used to filter out other sources of noise if needed. Amplification can take place between the sensor and the demultiplexer in some alternate embodiments.
Such a system can also include one or more elements which can be referred to collectively as a DC canceler. Indeed, AC electrical drives can typically be expected to involve a DC component, and it can thus be desired to cancel out such a DC component before the AC electrical drive signal reaches the sensor, to avoid interfering with the sEMG acquisition. The DC canceler can be provided in the form of one or more capacitors for instance.
The functions presented above in association with the sEMG acquirer, the movement acquirer, the demultiplexer, and the DC canceler can be considered to form basic functionalities which, in some embodiments, it can be preferred to embody as electronics, examples of which will be presented further below.
The example system presented in
The example system can also include a user interface configured to allow interaction with the user. In a simple example case, where the computer is in also incorporated to the apparel or otherwise worn by the user, for instance, the user interface can be a visual or audible alarm which can be triggered based on the composite indication of muscle fatigue. In a more elaborate example case, the computer can be provided remotely, and signals or associated data can be communicated to the computer in any suitable way, such as via the Internet for instance, and the computer can be provided with elaborate software allowing more in depth analysis, for instance.
In all embodiments, the sensor will be worn by a wearer during the process of signal acquisition. It some embodiments, the sEMG acquirer, the demultiplexer, and the movement acquirer can be housed in a preferably relatively small, one or more, electronics housing(s) which can also be worn by the user. In some embodiments, for instance, it can be preferred to provide the system with connectors, to allow to easily connect and disconnect the electronics housing from the electrical leads of the sensor. This can be useful, for instance, if the sensor is embodied as a disposable component, for instance, in which case the electronics housing can be re-used with another sensor. Such a scenario can be particularly useful in medical applications, for instance, where the sensor is provided with a single-use adhesive apparel, for instance, but can also be useful in sports applications where the sensor can be expected to begin to wear and potentially malfunction after a certain number of uses or washes, or simply to allow removing the electronics housing before washing the sensor, and reconnect it afterwards. In such embodiments, it can be preferred to either incorporate the DC canceler to the sensor, or within the electronics housings, and the ultimate choice can be left to the designer in view of the specifics of corresponding embodiments.
Some, or all, of the aforementioned higher functionalities can also be integrated into such one or more electronics housing(s) configured to be supported by the apparel, or by a separate computer, and the exact choice of which can be left to the designer in view of the specifics of corresponding embodiments. For instance, in some embodiments, a transmitter can be integrated to an electronics housing supported by the apparel, and configured to transmit relevant data to a computer. In a relatively simple example, the transmitter can transmit the raw signals of the acquirers, or processed data if one or more higher functionalities are incorporated to the electronics housing, to a smartphone, smartwatch, or other computer, worn or held separately from the apparel by the user. Such a smartphone or smartwatch can have a software application configured to perform one or more of the higher functionalities and interact with the user via the user interface, for instance, and can further be configured to communicate some relevant data to another computer over the Internet or other network. In a more elaborate example, the transmitter can transmit the raw signals of the acquirers, or processed data if one or more higher functionalities are incorporated to the apparel, directly over the Internet, for access by a healthcare professional or trainer, for instance. The transmitter can be controlled by a microcontroller (MCU) which receives the signals from the sEMG acquirer and the movement acquirer, for instance.
As will be understood from the above, various scenarios and embodiments are possible, and specific embodiments can be adapted or optimized in view of the specific scenarios considered.
Independently to being used in relation with providing an indication of risk of injury, a system such as presented herein can alternately be provided to assist athletes in training, for instance, such as by providing guidance for technique correction for instance. For example, a volleyball service requires a great degree of precision and synchronization on the sequence of execution: throw, run, jump, strike, to have an impact point as high as possible. Using a system such as presented above on one or more muscles could help guiding the athlete in terms of improving the timing of his movements. It could also allow comparison of different high level athletes to one another. Other similar applications could occur in many high level sports, such as swimming, basketball, football, etc.
Another example of an alternate application is to provide indication on the consistency of movement of an athlete to a coach during a game. Such an objective indication could be used by the coach in determining whether it would be better to change the player with another, for instance.
Another example of alternate applications is types of muscular training. Typically endurance training is performed at around 30% of the maximal muscular load, power training is performed at around 70% of the muscular load, whereas strength training is performed at around 90-95% of the maximal muscular load. A system such as presented above could be used to provide an indication of whether a target muscular load % is respected during training, for instance. Moreover, in the case of power training, the measurement of position can be of great use. The acceleration of the movement in relation to the weight will provide information pertaining to the power generated by the athlete. This power measurement can also be provided to optimise training and to follow the athlete's progressing to adjust his/her training plan in a manner to provide a greater progression curve.
Another example is to determine the time of reaction of an athlete in relation with a start signal. In swimming, for instance, the reaction time can be between 0.6 and 0.85 seconds on average. The difference in total time between can be between 0.1 second for 5 positions. Increasing the reaction time can thus be key between making the 1st place and missing the podium. Similar comments can be made with other sprint sports. Using muscular analysis using a system or method presented herein can be useful in guiding the athlete's progression on reaction time.
As can be understood, the examples described above and illustrated are intended to be exemplary only. For instance, in different applications, a fiber electrode can be used as a sensor of EMG, as a sensor of movement, or as a sensor of both EMG and movement, to name some examples. It will also be understood that in alternate applications, rather than targeting shoulder muscles, other muscles can be targeted. In particular, the lower back can be interesting, and a system such as presented above could be easily adapted to these muscles by integrating fiber sensors into a dorsal support in the form of a belt or tight shirt, for instance. Many other muscles can be targeted in alternate embodiments. Similarly, while athletes and workers have been listed here, other individuals in similar high-demand, repetitive movement situations such as soldiers (filed operations) and elderly people (daily activities become high-demand due to again weaker muscles), or other persons undergoing rehabilitation such as persons with neurological or MSK disorders could all benefit from system. While the results were obtained using the shoulder muscles and joint, it is believed that similar results would be achievable with other joints, such as the knee, ankle, lower back, etc. In some embodiments, one or the other, or all of the indications of muscle fatigue can be somewhat absolute in nature, such as considered either “active” or “inactive”. This can typically be the case of an indication which is triggered contingent upon a measured value exceeding (i.e. being above or below, depending on the specific case) a given threshold. In this sense, the composite indication of muscle fatigue can act somewhat like an “and” gate and only become active contingent upon the indications it is to be based on are all active (such as two or three, depending on the case). In some other embodiments, one or the other, or all, the indications of muscle fatigue can be represented on a scale which includes a spectrum of values, for instance. In such embodiments, individual ones of the primary indications of muscle fatigue can be weighed by a multiplication factor, for instance, which can be different for different ones of the primary indications, depending on how much a given one of the primary indication is considered reliable in terms of indication of muscle fatigue, for instance. In such cases, the composite indication of muscle fatigue can also be represented on a scale which includes a spectrum of values, such as a sum of the values of the individual indications for instance, or can be absolute in nature, such as being considered “active” if the sum of the values of the individual indications exceeds a given threshold value, for instance. Still other embodiments are possible. The scope is indicated by the appended claims.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/CA2021/050519 | 4/16/2021 | WO |
| Number | Date | Country | |
|---|---|---|---|
| 63010868 | Apr 2020 | US |
