Title | Feedback Control of Functional Electrical Stimulation for 2D Arm Reaching Movements |
Publication Type | Journal Article |
Year of Publication | 2018 |
Authors | Razavian, R. Sharif, B. Ghannadi, N. Mehrabi, M. Charlet, and J. McPhee |
Journal | IEEE Transactions on Neural Systems and Rehabilitation Engineering |
ISSN | 1534-4320 |
Keywords | Biomechanics and Sports |
Abstract | Functional electrical stimulation (FES) can be used as a neuroprosthesis in which muscles are stimulated by electrical pulses to compensate for the loss of voluntary movement control. Modulating the stimulation intensities to reliably generate movements is a challenging control problem. This paper introduces a feedback controller for a multi-muscle FES system to control hand movements in a two-dimensional (table-top) task space. This feedback controller is based on a recent human motor control model, which uses muscle synergies to simplify its calculations and improve the performance. This synergy-based controller employs direct relations between the muscle synergies and the produced hand force, thereby allowing for the real-time calculation of six muscle stimulation levels required to reach an arbitrary target. The experimental results show that this control scheme can perform arbitrary point-to-point reaching tasks in the two-dimensional task space in real-time, with an average of ~2 cm final hand position error from the specified targets. The success of this prototype demonstrates the potential of the proposed method for the feedback control of functional tasks with FES. |
URL | https://ieeexplore.ieee.org/abstract/document/8404077/ |
DOI | 10.1109/TNSRE.2018.2853573 |
Feedback Control of Functional Electrical Stimulation for 2D Arm Reaching Movements
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