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Leonardo M Cavalcanti, W Mitchel Thomas, David J Warren

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    Summary
    This summary is machine-generated.

    An adaptive feedforward model predictive controller (aF-MPC) improves asynchronous intrafascicular multi-electrode stimulation (aIFMS) for precise isometric torque control. This new controller offers superior performance and accuracy compared to previous methods.

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    Area of Science:

    • Neuroscience
    • Biomedical Engineering
    • Control Systems

    Background:

    • Asynchronous intrafascicular multi-electrode stimulation (aIFMS) enables fatigue-resistant, graded muscle forces.
    • Previous controllers (MISO-δI, feedforward) had lagged responses and lacked immediate corrections.
    • Limitations in prior methods hindered precise control for neuroprosthetics.

    Purpose of the Study:

    • Introduce an adaptive feedforward model predictive controller (aF-MPC) for isometric torque control.
    • Enhance existing aIFMS feedforward control with predictive capabilities and online model learning.
    • Address limitations of lagged responses and lack of immediate control corrections in aIFMS.

    Main Methods:

    • Developed and evaluated the aF-MPC in anesthetized felines with sciatic nerve implants.
    • Enhanced aIFMS feedforward control with a predictive policy and online model learning.
    • Performed statistical and observational comparisons against F-MPC and MISO-δI controllers.

    Main Results:

    • The aF-MPC demonstrated significant performance improvements over the non-adaptive F-MPC.
    • Observationally, the aF-MPC outperformed the MISO-δI controller across all metrics.
    • The aF-MPC accurately tracked desired torque profiles, even under high-frequency commands.

    Conclusions:

    • The aF-MPC effectively manages unknown dynamics in aIFMS for superior isometric torque control.
    • This adaptive controller surpasses previous methods in accuracy and responsiveness.
    • aF-MPC with aIFMS presents a promising approach for developing naturalistic motor neuroprostheses.