EPFL upper limb musculoskeletal model

This upper limb musculoskeletal model was developed at the EPFL by David Ingram and Ehsan Sarshari. It is implemented in Matlab. The details are explained in README files within each of the following subfolders.

Getting Started

The following instructions will get you a copy of the project locally.

• Clone the repository locally
• Start matlab and set path one of the model's directories (see below).

Prerequisites

The model requires Matlab 2015 with the following toolboxes.

Description of the different models

1. ShoulderModel

This folder contains the musculoskeletal model of the human shoulder and elbow that can replicate healthy subjects and patients with anatomical total shoulder arthroplasty (aTSA).

2. ShoulderModel_rTSA

This folder contains the ShoulderModel that is adapted to replicate patients with reverse total shoulder arthroplasty (rTSA).

3. ShoulderModel_NoElbow

This folder contains the ShoulderModel that did not illustrate the elbow joint forces in GUI.

4. ShoulderModel_3DOF

This folder contains the musculoskeletal model of the human shoulder with only 3 degrees of freedom (DOF) for the glenohumeral joint, an outstretch elbow and six muscles.

5. ShoulderModel_HHT

This folder contains the musculoskeletal model of the human shoulder with a 6 degrees of freedom (DOF) glenohumeral joint, and six muscles. The model can estimate humeral head translations thanks to its forward dynamic simulation and a deformable articular contact.

ShoulderModel_pre_post_processing

This folder contains scripts and documentations that allow/explain transformation of the patients data obtained from the preoperative Blueprint software and CTs into inputs that are consistent and readable by different versions of the MSM model.

anatomicalDataMale

This folder is not included in the repository, but is located the same directory locally. It includes the muscle insertion/origins of the generic subject (Julien) based on whom the MSM model was developed. The data obtained from the MRI/Amira. The main amira file is Reconstruction-Julien-Garner-Pandy_May2017.hx.

• 1. Authors
• David Ingram (EPFL-LA)

Development of the 1st version of the model, during his PhD thesis. https://infoscience.epfl.ch/record/204692

• Ehsan Sarshari (EPFL-LA/LBO)

Development of the 2nd version of the model, during his PhD thesis. https://infoscience.epfl.ch/record/256396

• 1. Contributors
• Christoph Engelhardt (EPFL-LBO): Performed anatomical measurements on MRI of healthy volunteer.
• Yasmine Boulanaache (EPFL-LBO): Performed anatomical measurements on MRI of healthy volunteer.
• Matteo Mancuso (EPFL-LMAM): Performed kinematics and EMG measurements on healthy volunteer.
• Fabio Becche (CHUV-RAD): set MRI protocols to build generic model from volunteer
• Alain Farron (CHUV-OTR): clinical supervision
• Alexandre Terrier (EPFL-LBO): biomechanical supervision
• Philippe Mullhaupt (EPFL-LA): PhDs' supervision

Bibliography

These models are described in the following journal articles.

• Sarshari, E., Farron, A., Terrier, A., Pioletti, D., Mullhaupt, P.

A simulation framework for humeral head translations (2017) Medical Engineering and Physics, 49, pp. 140-147. DOI: 10.1016/j.medengphy.2017.08.013

• Engelhardt, C., Farron, A., Becce, F., Place, N., Pioletti, D.P., Terrier, A.

Effects of glenoid inclination and acromion index on humeral head translation and glenoid articular cartilage strain (2017) Journal of Shoulder and Elbow Surgery, 26 (1), pp. 157-164. DOI: 10.1016/j.jse.2016.05.031

• Engelhardt, C., Ingram, D., Müllhaupt, P., Farron, A., Becce, F., Pioletti, D., Terrier, A.

Effect of partial-thickness tear on loading capacities of the supraspinatus tendon: a finite element analysis (2016) Computer Methods in Biomechanics and Biomedical Engineering, 19 (8), pp. 875-882. DOI: 10.1080/10255842.2015.1075012

• Ingram, D., Engelhardt, C., Farron, A., Terrier, A., Müllhaupt, P.

Modelling of the human shoulder as a parallel mechanism without constraints (2016) Mechanism and Machine Theory, 100, pp. 120-137. DOI: 10.1016/j.mechmachtheory.2016.02.004

• Ingram, D., Engelhardt, C., Farron, A., Terrier, A., Müllhaupt, P.

Improving anterior deltoid activity in a musculoskeletal shoulder model – an analysis of the torque-feasible space at the sternoclavicular joint (2016) Computer Methods in Biomechanics and Biomedical Engineering, 19 (4), pp. 450-463. DOI: 10.1080/10255842.2015.1042465

• Engelhardt, C., Malfroy Camine, V., Ingram, D., Müllhaupt, P., Farron, A., Pioletti, D., Terrier, A.

Comparison of an EMG-based and a stress-based method to predict shoulder muscle forces (2015) Computer Methods in Biomechanics and Biomedical Engineering, 18 (12), pp. 1272-1279. DOI: 10.1080/10255842.2014.899587

• Ingram, D., Engelhardt, C., Farron, A., Terrier, A., Müllhaupt, P.

Muscle moment-arms: a key element in muscle-force estimation (2015) Computer Methods in Biomechanics and Biomedical Engineering, 18 (5), pp. 506-513. DOI: 10.1080/10255842.2013.818666

• Ingram, D., Engelhardt, C., Farron, A., Terrier, A., Mullhaupt, P.

A minimal set of coordinates for describing humanoid shoulder motion (2013) IEEE International Conference on Intelligent Robots and Systems, art. no. 6697159, pp. 5537-5544. DOI: 10.1109/IROS.2013.6697159

• Terrier, A., Aeberhard, M., Michellod, Y., Mullhaupt, P., Gillet, D., Farron, A., Pioletti, D.P.

A musculoskeletal shoulder model based on pseudo-inverse and null-space optimization (2010) Medical Engineering and Physics, 32 (9), pp. 1050-1056. DOI: 10.1016/j.medengphy.2010.07.006

• Aeberhard, M., Michellod, Y., Mullhaupt, P., Terrier, A., Pioletti, D.P., Gillet, D.

Dynamical biomechanical model of the shoulder: Null space based optimization of the overactuated system (2008) 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, art. no. 4912981, pp. 67-73. DOI: 10.1109/ROBIO.2009.4912981

License

This should be discussed with Technology Transfer office (TTO) of EPFL

Acknowledgments

The project was financially supported by the Swiss National Science Foundation (SNSF)

• K-32K1_122512
• CR32I2_143704
• CR32I2_162766

and by the Lausanne Orthopedic Research Foundation (LORF).

We thank Julien Ston, former PhD student, the young healthy volunteer who spent hours in the MRI and in the Laboratory of Movement Analysis and Measurements (EPFL-LMAM).