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Published on: July 22, 2014
Model-based control of FES-induced single joint movements
M Ferrarin1, F Palazzo, R Riener
1Centro di Bioingegneria, Fnd Don Carlo Gnocchi IRCCS ONLUS-Politecnico di Milano, Italy. ferramau@mail.cbi.polimi.it
Summary
This study developed adaptive control strategies for functional electrical stimulation (FES) to improve paralyzed muscle activation. An adaptive algorithm effectively managed muscle fatigue, enhancing control for paraplegia patients.
Area of Science:
- Biomedical Engineering
- Rehabilitation Technology
- Neuroprosthetics
Background:
- Functional electrical stimulation (FES) aims to restore motor function by artificially activating paralyzed muscles.
- Current FES systems face challenges due to system nonlinearity and muscle fatigue, limiting their effectiveness.
Purpose of the Study:
- To develop and evaluate adaptive control strategies for FES to manage muscle properties and improve motor control.
- To address the limitations of nonlinearity and fatigue in FES systems for individuals with paraplegia.
Main Methods:
- Developed a nonlinear, physiologically based model of knee joint and muscle dynamics.
- Evaluated four control strategies: open-loop, closed-loop, combined, and an adaptive feedforward controller.
- Experimentally tested controllers on two subjects with paraplegia from spinal cord injury.
Main Results:
- Fixed-parameter controllers provided satisfactory results.
- The adaptive algorithm demonstrated improved performance by compensating for muscle fatigue.
- On-line identification of critical plant parameters was achieved with the adaptive approach.
Conclusions:
- Adaptive control strategies can effectively address muscle fatigue in FES systems.
- The developed adaptive algorithm offers improved control for paralyzed muscle activation.
- The approach shows potential for application in more complex functional movements.
