Details
| Original language | English |
|---|---|
| Pages (from-to) | 315-320 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 28 |
| Issue number | 20 |
| Publication status | Published - 1 Sept 2015 |
| Externally published | Yes |
| Event | 9th IFAC Symposium on Biological and Medical Systems, BMS 2015 - Berlin, Germany Duration: 31 Aug 2015 → 2 Sept 2015 |
Abstract
Foot drop appears, for example, in stroke patients and is characterized by the limited ability to lift (the lateral and/or medial edge of) the foot, which leads to a pathological gait. We consider treatment of this syndrome via Functional Electrical Stimulation (FES) of the peroneal nerve during the swing phase of the paretic foot. We introduce a novel stimulation pulse waveform modification technique that allows us to manipulate the recruitment of m. tibialis anterior and m. fibularis longus almost independently via two single surface electrodes without violating the zero net current requirement. A piecewise linear controller output mapping is applied in order to cope with the nonlinearities in patients' stimulation intensity tolerance. The pitch and roll angle of the foot are estimated by means of an Inertial Measurement Unit (IMU) and controlled via a decentralized Iterative Learning Control (ILC) scheme. We demonstrate the effectiveness of our approach in experimental trials with stroke patients walking on a treadmill. Starting from conventional stimulation parameters, the controller automatically achieves physiological foot pitch and roll angle trajectories within only two strides.
Keywords
- Biomedical systems, Drop foot syndrome, Functional electrical stimulation, Iterative learning control, Multivariable control systems, Neuroprosthetics, Pulse waveform modification, Rehabilitation engineering, Validation by experiments
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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In: IFAC-PapersOnLine, Vol. 28, No. 20, 01.09.2015, p. 315-320.
Research output: Contribution to journal › Conference article › Research › peer review
}
TY - JOUR
T1 - Multivariable control of foot motion during gait by peroneal nerve stimulation via two skin electrodes
AU - Seel, Thomas
AU - Valtin, Markus
AU - Werner, Cordula
AU - Schauer, Thomas
PY - 2015/9/1
Y1 - 2015/9/1
N2 - Foot drop appears, for example, in stroke patients and is characterized by the limited ability to lift (the lateral and/or medial edge of) the foot, which leads to a pathological gait. We consider treatment of this syndrome via Functional Electrical Stimulation (FES) of the peroneal nerve during the swing phase of the paretic foot. We introduce a novel stimulation pulse waveform modification technique that allows us to manipulate the recruitment of m. tibialis anterior and m. fibularis longus almost independently via two single surface electrodes without violating the zero net current requirement. A piecewise linear controller output mapping is applied in order to cope with the nonlinearities in patients' stimulation intensity tolerance. The pitch and roll angle of the foot are estimated by means of an Inertial Measurement Unit (IMU) and controlled via a decentralized Iterative Learning Control (ILC) scheme. We demonstrate the effectiveness of our approach in experimental trials with stroke patients walking on a treadmill. Starting from conventional stimulation parameters, the controller automatically achieves physiological foot pitch and roll angle trajectories within only two strides.
AB - Foot drop appears, for example, in stroke patients and is characterized by the limited ability to lift (the lateral and/or medial edge of) the foot, which leads to a pathological gait. We consider treatment of this syndrome via Functional Electrical Stimulation (FES) of the peroneal nerve during the swing phase of the paretic foot. We introduce a novel stimulation pulse waveform modification technique that allows us to manipulate the recruitment of m. tibialis anterior and m. fibularis longus almost independently via two single surface electrodes without violating the zero net current requirement. A piecewise linear controller output mapping is applied in order to cope with the nonlinearities in patients' stimulation intensity tolerance. The pitch and roll angle of the foot are estimated by means of an Inertial Measurement Unit (IMU) and controlled via a decentralized Iterative Learning Control (ILC) scheme. We demonstrate the effectiveness of our approach in experimental trials with stroke patients walking on a treadmill. Starting from conventional stimulation parameters, the controller automatically achieves physiological foot pitch and roll angle trajectories within only two strides.
KW - Biomedical systems
KW - Drop foot syndrome
KW - Functional electrical stimulation
KW - Iterative learning control
KW - Multivariable control systems
KW - Neuroprosthetics
KW - Pulse waveform modification
KW - Rehabilitation engineering
KW - Validation by experiments
UR - http://www.scopus.com/inward/record.url?scp=84992476899&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2015.10.158
DO - 10.1016/j.ifacol.2015.10.158
M3 - Conference article
AN - SCOPUS:84992476899
VL - 28
SP - 315
EP - 320
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8963
IS - 20
T2 - 9th IFAC Symposium on Biological and Medical Systems, BMS 2015
Y2 - 31 August 2015 through 2 September 2015
ER -