Document Type
Article
Publication Date
5-2014
Publication Title
IEEE Transactions on Neural Systems and Rehabilitation Engineering
Abstract
We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject’s hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint force targets was 11% of the total range of achievable forces. Major sources of error were random error due to trial-to-trial variability and model bias due to nonstationary system properties. Because the muscles working collectively are the actuators of the skeletal system, the quantification of errors in force control guides designs of motion controllers for multi-joint, multi-muscle FES systems that can achieve arbitrary goals.
Recommended Citation
Schearer, E. M., Yu-Wei Liao, Perreault, E. J., 2014, "Multi-Muscle FES Force Control of the Human Arm for Arbitrary Goals," Neural Systems and Rehabilitation Engineering, IEEE Transactions on, 22(3) pp. 654-663.
DOI
10.1109/TNSRE.2013.2282903
Version
Postprint
Publisher's Statement
© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Volume
22
Issue
3
