Muscle-Targeted Robotic Assistance and Augmentation of Human Motion
We are pleased to announce the publication of our latest research article in the prestigious journal IEEE Transactions on Cybernetics:
R. J. Escarabajal, E. París, M. Jamšek, T. Petrič, Á. Valera, V. Mata, and J. Babič,
“Muscle-Targeted Robotic Assistance and Augmentation of Human Motion,”
IEEE Transactions on Cybernetics, pp. 1–13, 2025.
DOI: 10.1109/TCYB.2025.3623064
Article link: https://ieeexplore.ieee.org/document/11223993
This work presents a novel framework for muscle-targeted robotic assistance, enabling robots to support or augment human movement by explicitly considering the user’s musculoskeletal dynamics. By integrating a biomechanical model with robotic control, the study introduces methods for estimating individual muscle demands and delivering assistance that aligns with the human force envelope and muscle activation patterns.
Key contributions of the paper include:
- A musculoskeletal modelling approach that enables real-time estimation of muscle loads during movement.
- A robotic control strategy for targeted assistance that enhances human performance while preserving natural motion.
- An analysis of isotropic manipulability to ensure safe and efficient human–robot interaction.
- Experimental validation demonstrating improved motion augmentation and precise modulation of robotic support.
This publication represents an important step toward adaptive, human-centred robotic assistance, opening new opportunities in rehabilitation, ergonomics, and collaborative robotics.
Congratulations to all authors on this achievement!