Abstract
Individuals with paralyzed limbs due to spinal cord injuries lack the ability to perform the reaching motions necessary to every day life. Functional electrical stimulation (FES) is a promising technology for restoring reaching movements to these individuals by reanimating their paralyzed muscles. We have proposed using a quasi-static model-based control strategy to achieve reaching controlled by FES. This method uses a series of static positions to connect the starting wrist position to the goal. As a first step to implementing this controller, we have completed a simulated study using a MATLAB based dynamic model of the arm in order to determine the suitable parameters for the quasi-static controller. The selected distance between static positions in the path was 6 cm, and the amount of time between switching target positions was 1.3 s. The final controller can complete reaches of over 30 cm with a median accuracy of 6.8 cm.
| Original language | American English |
|---|---|
| Journal | 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) |
| DOIs | |
| State | Published - Jul 29 2019 |
Disciplines
- Biomechanical Engineering
- Controls and Control Theory
- Robotics
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