Simple Quasi-Static Control of Functional Electrical Stimulation-Driven Reaching Motions

Derek N. Wolf; Eric M. Schearer

doi:10.1109/NER.2019.8716955

Simple Quasi-Static Control of Functional Electrical Stimulation-Driven Reaching Motions

Derek N. Wolf, Eric M. Schearer

Cleveland State University

Research output: Contribution to journal › Article › peer-review

Abstract

Functional electrical stimulation is a promising technology for restoring functional reaching motions to individuals with upper limb paralysis. We present a control architecture that combines static models of a paralyzed arm and its response to stimulation with a PID controller. The controller is used to drive the wrist of an individual with tetraplegia to a desired wrist position. We compare the performance of our controller with a feedforward component and with no feedforward component. The combined feedforward-feedback controller produced an average accuracy (defined as the distance away from the target wrist position) of 4.9 cm, and the feedback controller produced an accuracy of 4.3 cm. The combined feedforward-feedback controller produced initially larger errors than the feedback controller, but the end performance was similar. The control architecture presented has the potential to be used for arbitrary reaching motions.

Original language	American English
Journal	9th International IEEE/EMBS Conference on Neural Engineering (NER)
DOIs	https://doi.org/10.1109/NER.2019.8716955
State	Published - Jan 1 2019

Keywords

Wrist
Muscles
Force
Adaptive control
Iron
Neuromuscular stimulation
Complexity theory

Disciplines

Biomechanical Engineering
Controls and Control Theory
Mechanical Engineering

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10.1109/NER.2019.8716955License: CC BY

Cite this

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abstract = " Functional electrical stimulation is a promising technology for restoring functional reaching motions to individuals with upper limb paralysis. We present a control architecture that combines static models of a paralyzed arm and its response to stimulation with a PID controller. The controller is used to drive the wrist of an individual with tetraplegia to a desired wrist position. We compare the performance of our controller with a feedforward component and with no feedforward component. The combined feedforward-feedback controller produced an average accuracy (defined as the distance away from the target wrist position) of 4.9 cm, and the feedback controller produced an accuracy of 4.3 cm. The combined feedforward-feedback controller produced initially larger errors than the feedback controller, but the end performance was similar. The control architecture presented has the potential to be used for arbitrary reaching motions.",

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N2 - Functional electrical stimulation is a promising technology for restoring functional reaching motions to individuals with upper limb paralysis. We present a control architecture that combines static models of a paralyzed arm and its response to stimulation with a PID controller. The controller is used to drive the wrist of an individual with tetraplegia to a desired wrist position. We compare the performance of our controller with a feedforward component and with no feedforward component. The combined feedforward-feedback controller produced an average accuracy (defined as the distance away from the target wrist position) of 4.9 cm, and the feedback controller produced an accuracy of 4.3 cm. The combined feedforward-feedback controller produced initially larger errors than the feedback controller, but the end performance was similar. The control architecture presented has the potential to be used for arbitrary reaching motions.

AB - Functional electrical stimulation is a promising technology for restoring functional reaching motions to individuals with upper limb paralysis. We present a control architecture that combines static models of a paralyzed arm and its response to stimulation with a PID controller. The controller is used to drive the wrist of an individual with tetraplegia to a desired wrist position. We compare the performance of our controller with a feedforward component and with no feedforward component. The combined feedforward-feedback controller produced an average accuracy (defined as the distance away from the target wrist position) of 4.9 cm, and the feedback controller produced an accuracy of 4.3 cm. The combined feedforward-feedback controller produced initially larger errors than the feedback controller, but the end performance was similar. The control architecture presented has the potential to be used for arbitrary reaching motions.

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KW - Force

KW - Adaptive control

KW - Iron

KW - Neuromuscular stimulation

KW - Complexity theory

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Simple Quasi-Static Control of Functional Electrical Stimulation-Driven Reaching Motions

Abstract

Keywords

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