Motion control of the rabbit ankle joint with a flat interface nerve electrode
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Published on: August 31, 2022
Hyun-Joo Park1, Dominique M Durand1
1Neural Engineering Center, Department of Biomedical Engineering, Case Western Reserve University, Wickenden 112, Cleveland, Ohio, 44106, USA.
Introduction:
A flat interface nerve electrode (FINE) has been shown to improve fascicular and subfascicular selectivity. A recently developed novel control algorithm for FINE was applied to motion control of the rabbit ankle.
Methods:
A 14-contact FINE was placed on the rabbit sciatic nerve (n = 8), and ankle joint motion was controlled for sinusoidal trajectories and filtered random trajectories. To this end, a real-time controller was implemented with a multiple-channel current stimulus isolator.
Results:
The performance test results showed good tracking performance of rabbit ankle joint motion for filtered random trajectories and sinusoidal trajectories (0.5 Hz and 1.0 Hz) with <10% average root-mean-square (RMS) tracking error, whereas the average range of ankle joint motion was between -20.0 ± 9.3° and 18.1 ± 8.8°.
Conclusions:
The proposed control algorithm enables the use of a multiple-contact nerve electrode for motion trajectory tracking control of musculoskeletal systems.
