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A modular robust control framework for control of movement elicited by multi-electrode intraspinal microstimulation
1Iran Neural Technology Research Centre, Department of Biomedical Engineering, Iran University of Science and Technology (IUST), Iran.
Journal of Neural Engineering
|July 20, 2016
Summary
This study introduces a modular robust control strategy for intraspinal microstimulation (ISMS) to restore motor function. Multi-electrode ISMS with pulse amplitude modulation (PAM) offers superior control and tracking performance compared to single-electrode methods.
Area of Science:
- Neuroscience
- Biomedical Engineering
- Control Systems
Background:
- Restoring motor function via intraspinal microstimulation (ISMS) requires precise control of individual motor units.
- Multi-electrode ISMS presents control challenges due to multiple inputs and a single output.
Purpose of the Study:
- To develop a modular robust control strategy for movement control using multi-electrode ISMS.
- To investigate the efficacy of different control outputs (PAM vs. PWM) for ISMS.
Main Methods:
- A modular robust control strategy combining proportional-integral-derivative and adaptive fuzzy sliding mode control was proposed.
- The controller was implemented for multi-electrode arrays implanted into rat motor pools.
Main Results:
- Multi-electrode ISMS demonstrated more robust control and accurate tracking than single-electrode methods in rat models.
- Pulse amplitude modulation (PAM) provided faster convergence and better tracking performance than pulse width modulation (PWM).
Conclusions:
- The proposed modular control strategy is a promising approach for restoring motor functions using ISMS.
- The controller is adaptive, requiring no prior system dynamics knowledge or offline learning.
