Document Type
Article
Publication Date
2023
Publication Title
IEEE Transactions on Neural Systems and Rehabilitation Engineering
Abstract
Functional electrical stimulation (FES) is a promising technology for restoring reaching motions to individuals with upper-limb paralysis caused by a spinal cord injury (SCI). However, the limited muscle capabilities of an individual with SCI have made achieving FES-driven reaching difficult. We developed a novel trajectory optimization method that used experimentally measured muscle capability data to find feasible reaching trajectories. In a simulation based on a real-life individual with SCI, we compared our method to attempting to follow naive direct-to-target paths. We tested our trajectory planner with three control structures that are commonly used in applied FES: feedback, feedforward-feedback, and model predictive control. Overall, trajectory optimization improved the ability to reach targets and improved the accuracy for the feedforward-feedback and model predictive controllers ( p
Recommended Citation
Wolf, Derek N.N.; van den Bogert, Antonie J.; and Schearer, Eric M., "Data-Driven Dynamic Motion Planning for Practical FES-Controlled Reaching Motions in Spinal Cord Injury" (2023). Mechanical Engineering Faculty Publications. 431.
https://engagedscholarship.csuohio.edu/enme_facpub/431
DOI
10.1109/TNSRE.2023.3272929
Version
Publisher's PDF
Creative Commons License
This work is licensed under a Creative Commons Attribution 4.0 International License.
Volume
31
