Feedback Control of Functional Electrical Stimulation for 2-D Arm Reaching Movements

Reza Sharif Razavian, Borna Ghannadi, Naser Mehrabi, Mark Charlet, John McPhee

Research output: Contribution to journalArticlepeer-review

29 Scopus citations

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 2-D (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, therefore 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 2-D 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.

Original languageEnglish (US)
Article number8404077
Pages (from-to)2033-2043
Number of pages11
JournalIEEE Transactions on Neural Systems and Rehabilitation Engineering
Volume26
Issue number10
DOIs
StatePublished - Oct 2018
Externally publishedYes

Keywords

  • biomechanics
  • feedback control
  • Functional electrical stimulation (FES)
  • muscle synergies
  • task space control

ASJC Scopus subject areas

  • Internal Medicine
  • General Neuroscience
  • Biomedical Engineering
  • Rehabilitation

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