Abstract
This work addresses the problem of planning a robot configuration and grasp to position a shared object during forceful human-robot collaboration, such as a puncturing or a cutting task. Particularly, our goal is to find a robot configuration that positions the jointly manipulated object such that the muscular effort of the human, operating on the same object, is minimized while also ensuring the stability of the interaction for the robot. This raises three challenges. First, we predict the human muscular effort given a human-robot combined kinematic configuration and the interaction forces of a task. To do this, we perform task-space to muscle-space mapping for two different musculoskeletal models of the human arm. Second, we predict the human body kinematic configuration given a robot configuration and the resulting object pose in the workspace. To do this, we assume that the human prefers the body configuration that minimizes the muscular effort. And third, we ensure that, under the forces applied by the human, the robot grasp on the object is stable and the robot joint torques are within limits. Addressing these three challenges, we build a planner that, given a forceful task description, can output the robot grasp on an object and the robot configuration to position the shared object in space. We quantitatively analyze the performance of the planner and the validity of our assumptions. We conduct experiments with human subjects to measure their kinematic configurations, muscular activity, and force output during collaborative puncturing and cutting tasks. The results illustrate the effectiveness of our planner in reducing the human muscular load. For instance, for the puncturing task, our planner is able to reduce muscular load by \( 69.5\% \) compared to a user-based selection of object poses.

Abstract

Abstract
SummaryThe muscle synergy concept suggests that the human motor system is organised into functional modules comprised of muscles‘working together’towards common task-goals. This study offers a nuanced computational perspective to muscle synergies, where muscles interacting across multiple scales have functionally-similar, - complementary and -independent roles. Making this viewpoint implicit to a methodological approach applying Partial Information Decomposition to large-scale muscle activations, we unveiled nested networks of functionally diverse inter- and intra-muscular interactions with distinct functional consequences on task performance. This approach’s effectiveness is demonstrated using simulations and by extracting generalisable muscle networks from benchmark datasets of muscle activity. Specific network components are shown to correlate with a) balance performance and b) differences in motor variability between young and older adults. By aligning muscle synergy analysis with leading theoretical insights on movement modularity, the mechanistic insights presented here suggest the proposed methodology offers enhanced research opportunities towards health and engineering applications.

Abstract
To diagnose mobility impairments and select appropriate physiotherapy, gait assessment studies are often recommended. These studies are usually conducted in confined clinical settings, which may feel foreign to a subject and affect their motivation, coordination, and overall mobility. Conducting gait studies in unconstrained natural settings instead, such as the subject’s Activities of Daily Life (ADL), could provide a more accurate assessment. To appropriately diagnose gait deficiencies, muscle activity should be recorded in parallel with typical kinematic studies. To achieve this, Electromyography (EMG) and kinematic are collected synchronously. Our protocol sMaSDP introduces a simplified markerless gait event detection pipeline for the segmentation of EMG signals via Inertial Measurement Unit (IMU) data, based on a publicly available dataset. This methodology intends to provide a simple, detailed sequence of processing steps for gait event detection via IMU and EMG, and serves as tutorial for beginners in unconstrained gait assessment studies. In an unconstrained gait experiment, 10 healthy subjects walk through a course designed to mimic everyday walking, with their kinematic and EMG data recorded, for a total of 20 trials. Five different walking modalities, such as level walking, ramp up/down, and staircase up/down are included. By segmenting and filtering the data, we generate an algorithm that detects heel-strike events, using a single IMU, and isolates EMG activity of gait cycles. Applicable to different datasets, sMaSDP was tested in healthy gait and gait data of Parkinson’s Disease (PD) patients. Using sMaSDP, we extracted muscle activity in healthy walking and identified heel-strike events in PD patient data. The algorithm parameters, such as expected velocity and cadence, are adjustable and can further improve the detection accuracy, and our emphasis on the wearable technologies makes this solution ideal for ADL gait studies.

Abstract
There is currently a lack of objective, quantifiable metrics to evaluate children's health and athletic performance during Physical Education classes. To address this gap, the TexP@ct Consortium is developing a Smart Vest for Physical Education (SV4PE)-a textile engineered wearable solution that integrates a single triaxial Inertial Measurement Unit (IMU) and electrocardiogram (ECG) sensors, embedded at the T8 spinal level. Designed for comfortable and unobtrusive use, the SV4PE enables recording and analysis of biomechanical and physiological data during physical activity. This paper presents the preliminary system validation and algorithm development for the SV4PE system, detailing the sensor fusion and signal processing methods used to extract metrics from live and recorded data, along with results from experimental and prototype datasets. The algorithms designed measure an athlete's heart rate, movement intensity, and effort, with additional post-exercise metrics to characterize fundamental movements such as walking, running, and jumping. Sensor fusion packages were implemented, combining acceleration and angular velocity, to correct sensor drifts and remove gravity components. Following filtering and resampling, walking and running metrics, such as cadence, distance and velocity, are extracted through gait event identification, using wavelet transforms. Jumping characteristics are derived from vertical acceleration using projectile motion equations to estimate jump height, take-off force, and power output. Lastly, heart rate is calculated from QRS peak detection in the ECG signal, and associated with subject metadata to evaluate exercise intensity and effort levels. Additional algorithms are under-development to assess fitness tests (e.g., mile run, shuttle run, push-ups, etc.), for team sport motion classification using machine learning, and for player localization within a playfield for detailed performance analysis. Ultimately, this work seeks to provide teachers and trainers with practical tools to objectively monitor and assess children's performance during sports and physical activities.