A Hybrid Control Strategy for Tendon-actuated Robotic Glove and Functional Electrical Stimulation – A Preliminary Study

2019 ◽  
Author(s):  
Antonio Ribas Neto ◽  
Julio Fajardo ◽  
Victor Ferman ◽  
Eric Fujiwara ◽  
Eric Rohmer
Keyword(s):  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Control Strategy ◽  
Hybrid Control ◽  
Preliminary Study

scholarly journals Human-FES cooperative control for wrist movement: a preliminary study

2016 ◽  
Vol 26 (3) ◽  
Author(s):  
Kai Gui ◽  
Hiroshi Yokoi ◽  
Dingguo Zhang
Keyword(s):  
Neural Network ◽  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Bp Neural Network ◽  
Cooperative Control ◽  
Back Propagation ◽  
Feedback Controller ◽  
Wrist Movement ◽  
Feedforward Controller ◽  
Preliminary Study

Functional electrical stimulation (FES) sometimes applies to patients with partial paralysis, so human voluntary control and FES control both exist. Our study aims to build a cooperative controller to achieve human-FES cooperation. This cooperative controller is formed by a classical FES controller and an impedance controller. The FES controller consists of a back propagation (BP) neural network-based feedforward controller and a PID-based feedback controller. The function of impedance controller is to convert volitional force/torque, which is estimated from a three-stage filter based on EMG, into additional angle. The additional angle can reduce the FES intensity in our cooperative controller, comparing to that in classical FES controller. Some assessment experiments are designed to test the performance of the cooperative controller.

scholarly journals Feedback error learning controller for functional electrical stimulation assistance in a hybrid robotic system for reaching rehabilitation

2016 ◽  
Vol 26 (3) ◽  
Author(s):  
Francisco Resquín ◽  
Jose Gonzalez-Vargas ◽  
Jaime Ibáñez ◽  
Fernando Brunetti ◽  
José Luis Pons
Keyword(s):  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Control Strategy ◽  
Motor Impairment ◽  
Research Field ◽  
Robotic System ◽  
Feedback Error Learning ◽  
Feedback Error ◽  
Error Learning ◽  
Passive Exoskeleton

Hybrid robotic systems represent a novel research field, where functional electrical stimulation (FES) is combined with a robotic device for rehabilitation of motor impairment. Under this approach, the design of robust FES controllers still remains an open challenge. In this work, we aimed at developing a learning FES controller to assist in the performance of reaching movements in a simple hybrid robotic system setting. We implemented a Feedback Error Learning (FEL) control strategy consisting of a feedback PID controller and a feedforward controller based on a neural network. A passive exoskeleton complemented the FES controller by compensating the effects of gravity. We carried out experiments with healthy subjects to validate the performance of the system. Results show that the FEL control strategy is able to adjust the FES intensity to track the desired trajectory accurately without the need of a previous mathematical model.

scholarly journals Feasibility of Functional Electrical Stimulation-Assisted Neurorehabilitation following Stroke in India: A Case Series

2012 ◽  
Vol 2012 ◽  
pp. 1-7 ◽  
Author(s):  
Bhawna Khattar ◽  
Alakananda Banerjee ◽  
Rajsekhar Reddi ◽  
Anirban Dutta
Keyword(s):  
Electrical Stimulation ◽  
Clinical Study ◽  
Functional Electrical Stimulation ◽  
Case Series ◽  
Clinical Excellence ◽  
Foot Drop ◽  
Stroke Survivors ◽  
Neurologically Impaired ◽  
Preliminary Study ◽  
Gait Therapy

Functional Electrical Stimulation (FES) facilitates ambulatory function after paralysis by electrically activating the muscles of the lower extremities. The Odstock Dropped Foot Stimulator (ODFS, Odstock, UK) called ODFS Pace, was used for heel-switch triggered FES-assisted walking. The ODFS is recommended as an intervention for neurologically impaired gait in the Royal College of Physicians (UK) Clinical Guidelines on Stroke. Based on the guidelines by the National Institute of Clinical Excellence (NICE, UK), we started first clinical study in India on ODFS Pace as an orthotic intervention for daily use. In this preliminary study, we also investigated improvement in volitional walking following 6 sessions (3 times per week, for 2 weeks) of 30 minutes of FES-assisted treadmill walking on 7 chronic (>6 months after stroke) stroke survivors. We found that short-duration, moderately intensive FES-assisted gait therapy improved volitional gait in 3 out of 7 stroke survivors suffering from foot drop. Even in absence of improvement in volitional walking, there were no adverse effects and the subjects found heel-switch triggered FES-assisted walking mostly “easy” (6 out of 7). Therefore FES is promising as an orthotic intervention for daily use; however, tailoring the intensity and/or frequency based on patient's ability may make it viable as a therapeutic intervention.

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