Details
| Original language | English |
|---|---|
| Pages (from-to) | 9954-9960 |
| Number of pages | 7 |
| Journal | IFAC-PapersOnLine |
| Volume | 50 |
| Issue number | 1 |
| Publication status | Published - Jul 2017 |
Abstract
Rehabilitation robotics and Functional Electrical Stimulation (FES) are becoming more important in the rehabilitation of stroke and spinal cord injured (SCI) patients. Patient-cooperative control strategies help to only compensate for deficits and to not support too much. The application of a cable-driven arm robotic system with constant force support is considered. FES of the biceps and triceps, as well as of the posterior and anterior part of the deltoid muscle allows us to control the flexion and extension of the elbow joint and of the shoulder motion in the transversal plane. In order to support these motions of the patient, we introduce a novel assist-as-needed FES support based on iterative learning vector fields. Using this new FES control scheme, we aim to facilitate the patient's timing and completion of the motion. The approach is evaluated in experimental trials with healthy subjects performing a breaststroke swimming motion. Starting from a patient-typical deviation of 50° the controller automatically adapts the support by adjusting the stimulation and thereby reduces the deviation to approximately 15° within less than ten strokes.
Keywords
- Functional Electrical Stimulation, assist-as-needed, biomedical systems, learning control systems, multivariable control systems, neuroprosthetics, patient-cooperative, rehabilitation robotics, upper limb rehabilitation
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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In: IFAC-PapersOnLine, Vol. 50, No. 1, 07.2017, p. 9954-9960.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - A new approach for a patient-cooperative upper limb fes support based on vector fields
AU - Passon, Arne
AU - Klewe, Tim
AU - Seel, Thomas
AU - Schauer, Thomas
PY - 2017/7
Y1 - 2017/7
N2 - Rehabilitation robotics and Functional Electrical Stimulation (FES) are becoming more important in the rehabilitation of stroke and spinal cord injured (SCI) patients. Patient-cooperative control strategies help to only compensate for deficits and to not support too much. The application of a cable-driven arm robotic system with constant force support is considered. FES of the biceps and triceps, as well as of the posterior and anterior part of the deltoid muscle allows us to control the flexion and extension of the elbow joint and of the shoulder motion in the transversal plane. In order to support these motions of the patient, we introduce a novel assist-as-needed FES support based on iterative learning vector fields. Using this new FES control scheme, we aim to facilitate the patient's timing and completion of the motion. The approach is evaluated in experimental trials with healthy subjects performing a breaststroke swimming motion. Starting from a patient-typical deviation of 50° the controller automatically adapts the support by adjusting the stimulation and thereby reduces the deviation to approximately 15° within less than ten strokes.
AB - Rehabilitation robotics and Functional Electrical Stimulation (FES) are becoming more important in the rehabilitation of stroke and spinal cord injured (SCI) patients. Patient-cooperative control strategies help to only compensate for deficits and to not support too much. The application of a cable-driven arm robotic system with constant force support is considered. FES of the biceps and triceps, as well as of the posterior and anterior part of the deltoid muscle allows us to control the flexion and extension of the elbow joint and of the shoulder motion in the transversal plane. In order to support these motions of the patient, we introduce a novel assist-as-needed FES support based on iterative learning vector fields. Using this new FES control scheme, we aim to facilitate the patient's timing and completion of the motion. The approach is evaluated in experimental trials with healthy subjects performing a breaststroke swimming motion. Starting from a patient-typical deviation of 50° the controller automatically adapts the support by adjusting the stimulation and thereby reduces the deviation to approximately 15° within less than ten strokes.
KW - Functional Electrical Stimulation
KW - assist-as-needed
KW - biomedical systems
KW - learning control systems
KW - multivariable control systems
KW - neuroprosthetics
KW - patient-cooperative
KW - rehabilitation robotics
KW - upper limb rehabilitation
UR - http://www.scopus.com/inward/record.url?scp=85031776565&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2017.08.1573
DO - 10.1016/j.ifacol.2017.08.1573
M3 - Article
VL - 50
SP - 9954
EP - 9960
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 1
ER -