Researches and Applications in Mechanical Engineering Volume 4, 2015

doi: 10.14355/rame.2015.04.001

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StudyonMuscleFatigueMeasurement
DuringElbowFlexionExtensionUsingEMG
andOpenSim
DavidSangKunChun*1,YounJooLee2,SeongWookCho3,InchanYoun4
BiomedicalResearchInstitute,KoreaInstituteofScienceandTechnology,Seongbukgu,Seoul,Republicof
Korea
*1,2,4

*1,3
*1

SchoolofMechanicalEngineering,ChungAngUniversity,Dongjakgu,Seoul,RepublicofKorea

t13215@naver.com;2younjoo@kist.re.kr;3scho@cau.ac.kr;4iyoun@kist.re.kr

Abstract
Thispaperproposesamethodofsurfaceelectromyography(sEMG)basedmensurationofmusclefatigueduringelbowflexion
extension.Theproposedmethodhastwoparts.First,thejointangleandlocationsofbodysegmentsareestimatedusinginertial
measurementunits(IMU)andtheOpenSimbiomechanicssimulator.Second,musclefatigueismeasuredusingOpenSimanda
threecompartmentmusclefatiguemodel.Theexperimentalresultsshowthatmusclefatigueincreasesinaccordancewiththe
momentum.
Keywords
MuscleFatigue;EMG;IMU,Biomechanics;Opensim,MotionCapture;ElbowFlexionExtension

Introduction
Commonly used surface electromyography (sEMG)based methods for measuring muscle fatigue use the mean
power frequency or median frequency of the electromyogram (EMG) recorded while a subject performs static
contraction.However,usingthesemethods,itisdifficulttoaccuratelymeasuremusclefatigueindailyactivities,
exercise,andlaboractivitiesthatactuallyrepresentasubjectsmotionthatmaycauseoraggravatemusculoskeletal
diseases.Tosolvethisproblem,somepreviousstudieshaveadditionallyusedtheapostprocessingstepbasedon
patternrecognitiontechniques(RogersandMacIsaac2011,2010).
In this paper, we propose a muscle fatigue measurement method based on kinematic information. This method
connects muscle fatigue to motion, and can obtain biomechanics values, such as the muscle force and muscle
activation,andmomentfromtheusersmovements.Tomeasurethemotionfromwhichkinematicinformationis
derived, markerbased motion capture (MbMoCap) devices have been commonly used. However these are very
expensive,difficulttosetup,andhavespaceconstraints.Toovercometheselimitations,weproposeamethodto
use inertial measurement units (IMU). These are inexpensive, easy to use, and can be used outdoors (Daniel
Roetenberg2013).
The OpenSim biomechanics simulator (OpenSim, Stanford Univ., USA) and threecompartment muscle fatigue
model(XiaandFreyLaw2008)wereusedtocalculatemusclefatigue.BecauseinputformorextensionofOpenSim
isonlyMbMoCapbased,markerpositionswereestimatedusingtheIMUandinputtotheinversekinematicsin
OpenSimtocalculatethejointangle.ThisjointanglewasinputtothestaticoptimizationinOpenSimtocalculate
muscle activation. Then, the coefficients of the EMGmuscle activation transformation were calculated using the
muscleactivationandEMGtotransformtheafterwardmeasuredEMGintomuscleactivation.Finally,theEMG
basedmuscleactivationwasinputtothemusclefatiguemodeltocalculatemusclefatiguewhichisdimensionless.
ThisflowchartisshowninFig.1.
Mensurationofmusclefatigueduringelbowflexionextension(EFE),whichhas1degreeoffreedom(DOF),was
developed.

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FIG.1OVERALLPROCESSOFTHEPROPOSEDMUSCLEFATIGUEMEASUREMENTMETHOD.

Joint Angle Estimation Using IMU and Opensim

In this section, we present the calculation of the joint angles between the upper arm and lower arm using the
position information of body segments obtained from the IMU data and the inverse kinematics provided from
OpenSim.FortheOpenSimbodymodel,Arm26wasused(Holzbaur,Murray,andDelp2005).Thismodelhas1
DOF hinge joints at the shoulder and elbow joints, three segmentsthe thorax, humerus, and forearm, and six
muscles.Howeverinourexperiments,onlythreemusclesthelongheadofthebicepsbrachii(BIClong),theshort
head of the biceps brachii (BICshort), and the brachialis (BRA) were measured. The marker set was created
referringtotheHeidelbergUpperExtremitymodel(Rettigetal.2009).Themarkersethastenmarkers:thejugular
notch (CLAV), xiphoid process (STRN), C7, T10, acromion (SHO), tuberositas deltoidea humeri (HUM), lateral
epicondyle (LAT), olecranon (OLC), ulna styloid process (ULN), and radial styloid process (RAD). The marker
positionsareshowninFig.2.

FIG.2LOCATIONOFTHEMARKERSATTACHEDTOTHEUPPERARMANDTORSO.

MbmocapDataCalibration
The body segments of the model were scaled based on MbMoCap. In addition, the coordinates of the measured
datashouldbecalibrated.First,theMbMoCapdatawascalibrated.Thecalibrationequationisasfollows:
default

where

default

pi

default
exp

T * exp pi

(1)

pi is the ith marker position in OpenSim, exp pi is the ith measured marker position, and default
T is the
exp

transformation matrix that calibrates the coordinates from the experimental coordinates to the coordinates of

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OpenSim,calculatedbytheleastsquaresmethod(LSM)(Sorkine2009).

T argmin

default
exp

wi

T * exp pi

default
exp

default

pi

(2)

i=marker

wherewiisweight,whichisgreaterthantheothersifthecorrespondingmarkerisonabonyplaceorplacedatthe
centerofthebody.ThemarkerpositionsinOpenSimwerecalculatedusingthegeometryofthescaledmodel.The
transformationmatrixwascalculatedusingtheMbMoCapdatameasuredunderastaticposesimilartothedefault
in OpenSim (default pose). Finally, all measured marker positions were premultiplied by the transformation
matrix.
IMUDataCalibration
TheIMUdatawerecalibratedusingMbMoCap.IfIMUbasedmotioncaptureisaccurateasMbMoCap,inother
words,therotationaldifferencesbetweenMbMoCapandtheIMUareconstantthecalibratoris,

where

calibrator

calibrator

qj

MbMoCap

q j * IMU q j 1 (3)

q j istheMbMoCapIMUcalibratorofthejthjoint, MbMoCap q j isthequaternionofthejthjointmeasured

with MbMoCap, and

IMU

q j 1 is the inverse quaternion of the jth joint measured with IMU. The rotational

differences between MbMoCap, IMU,and calibratorareshownin Fig.3. First,the rotational differencefrom the
defaultposetoMbMoCapwascalculatedusingtheLSMforeachbodysegment.
default R j argmin
exp

exp
default

R j * default pi exp pi

(4)

i=marker

exp

where default R j is the rotation matrix of the jth joint from the default pose to MbMoCap data,
default pose marker position in the local coordinate, and
coordinate.

exp
default

R j was transformed into

MbMoCap

exp

default

pi is the ith

pi is the ith measured marker position in the local

q j for convenient calculation. After the calibration stage, the

calibratorforeachjointwaspremultipliedforeachofIMUdata.

calibrated

q j t

calibrator

q j * IMU q j t (5)

Themarkerpositionswereestimatedasfollows:

IMU

pi t

calibrated

q j t * default pi * calibrated q j t Tj t (6)

1

FIG.3ROTATIONOFJOINTANGLEFOREACHMBMOCAP,IMU,ANDCALIBRATOR.

where Tj(t) is the translation vector ofthe jth joint in time t,and the vector wasadded to each of corresponding
markerstotunethechildjointtotheparentjoint.Finally,a*.trcfiletheinputofOpenSimwascreatedusingthese

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markerpositionstocalculatethejointangleusingOpenSim.
Muscle Fatigue Measurement
MusclefatiguewascalculatedusingthejointanglesandEMG.Muscleactivationwascalculatedbyinputtingthe
joint angle into static optimization in OpenSim. Using this muscle activation and EMGs, the coefficients of the
EMGmuscleactivationtransformationwerecalculated.Then,theafterwardmeasuredEMGwastransformedinto
muscleactivation.TheEMGbasedmuscleactivationwasinputintothreecompartmentmusclefatiguemodel(Xia
andFreyLaw2008),andmusclefatigueiscalculatedlast.
EMGMuscleActivationTransformation
The EMGmuscle activation transformation was derived using EMGneural activation and neural activation
muscleactivationtransformation.ThetransferfunctionoftheEMGneuralactivationisasfollows(Buchananetal.
2004,DavidG.Lloyd2002,Manaletal.2002):

u t
e (t )

z d
1 1 z 2 z
1

1 1 z 2 z 2
1

(7)

whereu(t)isneuralactivation;e(t)isEMG;and,1,and2arecoefficientsconditionedasfollows:
1 2 11 1 2 2 1 * 2 1 1,

2 1 (8)

Wheredisdelaytimeandisequalto0.04.Thesimplifiedtransformationofneuralmuscleactivationisasfollows
(Buchananetal.2004,DavidG.Lloyd2002,Manaletal.2002):
a (t )

A*u t

e 1
A

(9)

wherea(t)ismuscleactivationandAisanonlinearshapefactor.Thecoefficients1,2,andAdifferfromtheother
muscles and are valid until the sEMG sensor is removed (Criswell 2011). The coefficients were determined by
minimizingthegapbetweentheEMGandmotionbasedmuscleactivationwithsimulatedannealing(Sartorietal.
2012).
1 , 2 , A argmin

m muscle

EMG

am t

motion

am t (10)

Theinitialvaluesofthecoefficientsare1=0.5,2=0.5,andA=0.1(Buchananetal.2004).Aftercalculatingthe
coefficients, the afterward measured EMG was transformed into muscle activation without the motion based
information.
MuscleFatigueCalculation
Musclefatiguewascalculatedusingathreecompartmentfatiguemodel(XiaandFreyLaw2008).
RC t M A M R 1 M F (11)
where RC is residual capacity; MA is the activated compartment; MR is the resting compartment; and MF is the
fatigued compartment, which denotes muscle fatigue. The values of the compartments ranged from 0 to 1. As a
muscle activates, the fatigued compartment increases, and the others decrease. Fig. 4 shows the muscle fatigue
model.MA,MR,andMFarecalculatedusingthefollowingequation:

dM R
dt

C ( t ) R * M F t

dM A
dt

C t F * M A t

dM F
dt

F * M A t R * M F t (12)

where C(t) is the activationdeactivation driving controller, F is the fatigue coefficient, and R is the recovery
coefficient.C(t)isthesameasshowninthefollowingequation(MiguelT.Silva2011):

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LR * TL t M A

C (t ) LD * TL t M A

LD * M R

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TL t M
A

M TL t M M (13)
M M TL t
A

whereLDistheforcedevelopmentfactor;LRistherelaxationfactor;andTListhetargetloadwhichis(XiaandFrey
Law2008):

TL BE
(14)
BE TL

RC * BE

TL

whereBEisthevoluntarybraineffort.As M F increases,RCdecreases,andBEincreases.Duetosubstitutinga(t)
intotheTL,theresultofthesimulationwasthesameasthatofXias(XiaandFreyLaw2008).Therefore,C(t)can
berewrittenas,

LR * a t M A

C (t ) LD * a t M A

LD * M R

a t M
A

M A a t M A M R (15)

M R a t

Itispostulatedthatallmusclefibersareslowmusclefibers,soFis0.01,Ris0.002,andLRandLDare10(Pereira
2009).Also,MRis1beforethemuscleactivates.

FIG.4THREECOMPARTMENTFATIGUEMODEL.

Experimental Results
DatabaseandSensorDevices
A nondisabled male subject (27 years old, 181 cm, weighing 72 kg) was tested. Markers, IMUs, and the sEMG
sensor were attached to the subjects body. Quaternion data were received from two wireless IMUs (50 Hz)
(EBIMU24GV2,e2box,SouthKorea).Akalmanfilterbasedembeddedalgorithmcalculatedthequaternion,andthe
erroroftheIMUwasknowntobewithin1indailylifewristmotions(I.W.Jung2014).Becauseonlythestartand
end times could be recorded, it was assumed that the data were recorded equidistantly. Lost data were
interpolated with spherical linear interpolation (Slerp) (Eberly 2010). Retroreflective markers placed on the
subjects body were recorded (60 Hz) using eight motion capture system cameras (Motion Analysis, Motion
Analysis,USA).ThetimedataoftheIMUsandMbMoCapweresynchronizedusingtheLSMaftermeasurement.
AdryandbipolartypesEMGsensorwasused(2000Hz)(DelsysTrigno,Delsys,USA).Thereceivedsignalwas
20450 Hz bandpass filtered to remove baseline noise and artifact noise, full wave rectified, normalized by
maximumvoluntarycontraction(MVC),and6Hzlowpassfiltered(Sartorietal.2012).
ComparativeExperimentsforJointAngleEstimation
The accuracy of the joint angle using IMUs was tested by comparing the results with the MbMoCapbased joint
angle.EFEwasperformed10timesunder5differentfrequencies(0.2,0.25,0.33,0.5,and1Hz[1,2,3,4,and5sfor
eachcycle]).Theresultsweremeasuredtostudythecorrelationbetweentheerrorandangularvelocity.IMUswere

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attachedtothepronatortuberosityandthenearbyHUM,andthemarkersetdescribedpreviouslywasattached.
ThecorrespondingmarkersandIMUsforeachsegmentareprovidedinTable.1.
TABLE.1LOCATIONOFMARKERSANDNUMBEROFIMUSATTACHEDTOEACHBODYSEGMENT

segment

IMU

marker

thorax

none

CLAV,STRN,C7,T10,SHO

humerus

#1

HUM,LAT

forearm

#2

OLC,ULN,RAD

At the calibration stage, the default pose was measured. After the calibration stage, full range of motion (ROM)
(0~140)EFEwasmeasured.Wholestepsweremeasured10times.
OneofthetheexamplesoftheIMUandmarkerbasedjointangleunder1Hzfrequencyisthesameasshownin
Fig.5.ThesolidbluelineistheIMUbasedjointangle,andtheblackdottedlineisthemarkerbasedjointangle.
TheerrorsincreaselargelyafterthesubjectstartstomoveevenelbowjointangleexceededtheROMsometimes.
Errorswerenotrecoveredafterthesubjectfinishedmoving.Becausethemethodusedinthisstudyisnotusedto
improveaccuracybutinsteadconvertsIMUdatatoMbMoCapdata,thismightbecausedbytheinnersideofthe
IMUlikehardwareandembeddedalgorithm.

FIG.5COMPARISONOFEFEJOINTANGLEESTIMATIONRESULTSAT1HZ(BLUELINE:IMU,BLACKDOTTEDLINE:MBMOCAP).
TABLE.2MEANABSOLUTEERRORSBETWEENJOINTANGLESESTIMATEDBYIMUANDMBMOCAP

Meanabsoluteerror(deg.)

Error
Hz

Mean

Standarddeviation

0.2

47.35

13.42

0.25

44.3

7.31

0.33

41.36

8.75

0.5

39.22

8.23

36.55

8.84

ThemeanabsoluteerrorsofthemeanandstandarddeviationforeachfrequencyaregiveninTable.2.Themean
absolute error under different frequencies using the ttest shows that there are no significant differences under
different frequencies. A large motion or large acceleration which instantaneously occurs might generate an

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irreversibleerrorwhichwouldnotbereducedevenafterasubjectstopsthemotion.
MuscleFatigueMeasurementResults
Tomeasureandtestmusclefatigue,athreestepmeasurementwasperformed.First,tonormalizeEMG,theMVC
of the EMG was measured while making the forearm perpendicular to the humerus and keeping the humerus
vertical.Second,tocalculatecoefficientsoftheEMGmuscleactivationtransformation,afullROMEFEwitha3
kgdumbbellwasmeasuredfor30swhilekeepingthehumerusvertical.Third,thesameexercisewasmeasured,
buttodeterminethecorrelationbetweenmomentumandmusclefatigue,thesubjectperformedEFE10,20,and30
times.Thesubjectrestedbetweenmeasurements,andwholestepsweremeasuredtentimes.
AnexampleofMusclefatigueforthethreecompartmentsinBIClongisshowninFig.68.TheblacklineisMA;the
bluelineisMR;andtheredlineisMF,whichdenotesmusclefatigue.Themeanandstandarddeviation(SD)ofthe
accumulated fatigue for each muscle are the same as given in Table. 3. The first column means performed EFE
times.AsthesubjectincreasedthenumberofEFEsinameasurement,fatigueincreasedlinearly.Meanwhile,asthe
totaltimesinameasurementincreased,fatigueincreasedgeometrically.Theaccumulatedfatigueunderdifferent
EFEtimesusingthettestshowsthatthedifferencesbetweentimesarevalid.
Because simulated annealing was used, the coefficients of the EMGmuscle activation transformation changed
everytimecalculatingwiththesamemotionandEMGdata.Therefore,themuscleactivationandmusclefatigue
alsochanged.

FIG.6MUSCLEFATIGUEMEASUREDINBICLONG
UNDER10TIMESREPETITION.

FIG.7MUSCLEFATIGUEMEASUREDINBICLONG
UNDER20TIMESREPETITION.
UNDER30TIMESREPETITION.

TABLE.3MEANANDSTANDARDDEVIATIONOFACCUMULATEDMUSCLE
FATIGUEFORBICLONG,BICSHORT,ANDBRA

FIG.8MUSCLEFATIGUEMEASUREDINBICLONG

BIClong

BICshort

BRA

Times

mean

SD

mean

SD

mean

SD

10

0.0637

0.0012

0.0381

0.0006

0.0318

0.0013

20

0.0836

0.0028

0.0523

0.0008

0.0466

0.0007

30

0.1204

0.0033

0.0826

0.0021

0.0743

0.0016

Discussion
To improve this study, first, IMUbased biomechanics simulator should be developed. This can reduce the
calculation burden, avoiding several stages that are needed to estimate the marker positions and create the

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MbMoCapbased input file described in this paper. Second, the EMGmuscle activation coefficients should be
calculatedusingthemomentinsteadofthemuscleactivation(Sartorietal.2012).Ifforwarddynamicsissimulated
withmuscleactivationbasedcoefficients,nosolutionisfoundorlargeerrorsaregeneratedoften.Third,toexpand
the DOF or measure more joint motions, the mensuration of spaculohumeral rhythm using IMUs should be
developed.Thisrhythmcannotbeneglectedbutisverydifficulttomeasureormodel(EdwardK.Chadwick2014).
IfanIMUisattachedtothesternum,whichistheonlysensorintheshouldertorsosegment,itisunderdetermined
tomeasurethespaculohumeralrhythm.Itmightbeimpossibletomeasurethisshouldermotioninseveralyears
because the current IMU has low sensitivity to translational and rotational small changes. Fourth, the muscle
fatiguemodelshouldbetestedandadjusted.Itwasdevelopedrecentlyandhasbeennotverifiedyet(Ackermann
2007).Thecoefficientsshouldbetestedandadjustedfirst.
This studydoes have limitation. First,deeply positioned muscles such as thepsoasand iliacus, which cannot be
measured with sEMG, create a gap between measured and EMGdriven motion (Sartori et al. 2012). Second,
becausetheproposedmethodisbasedonperipheralmusclemodels,centralnervesystemfatigueisneglected(Xia
andFreyLaw2008).
Conclusion
Inthisstudy,musclefatigueduringEFEmotionwasmeasuredusingEMGandkinematicinformation.Itcanbe
usedinnotonlystaticcontraction,whichismeasuredwithconventionalmethodsusingmeanpowerfrequencyor
medianfrequency,butalsodynamicmotion.Forconvenientmotioncapturing,weproposedusingIMUswhichare
easy to be used and less space restrictive in comparison with MbMoCap. The joint angles were calculated by
estimatingthemarkerpositionswithIMUsandOpenSim.Inaddition,EMGbasedmusclefatiguewasestimated
usingOpenSimandathreecompartmentmusclefatiguemodel(XiaandFreyLaw2008).Theexperimentalresults
showedthattheerrorofthejointangleandtheEFEfrequencydidnothaveacorrelation,butthatalargeerroris
generatedwhenthesubjectmakesalarge,instantaneousmovement.
Infuturework,first,theaccuracyofthejointangleestimationbasedonIMUswouldbeimprovedbydeveloping
hardware or algorithms to fulfil the requirements for biomechanics study. Second, IMU and sEMG based on BS
wouldbedevelopedtoreplaceOpenSim.Third,toexpandtheDOFormore,themensurationofspaculohumeral
rhythm using IMUs would be studied. Forth, the measurement of muscle fatigue should be verified or
comparatively studied with a more objective experiment tools like force/torque sensors. Lastly, the proposed
methodshouldbetestedonmoresubjects.
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