A Biological Micro Actuator: Graded and Closed-Loop Control of Insect Leg Motion by Electrical Stimulation of Muscles

Functional electrical stimulation (FES) is a method for restoring the functional movements of paraplegic or patients with spinal cord injuries. However, the selection of parameters that control the restoration of standing up and sitting functions has not been extensively investigated. This work provides a method for choosing the four main items involved in evaluating the strategies for sit-stand-sit movements with the aid of a modified walker. The control method uses the arm-supported force and the angles of the legs as feedback signals to change the intensity of the electrical stimulation of the leg muscles. The control parameters, Ki and Kp, are vary for different control strategies. Four items are collected through questionnaires and used for evaluation. They are the maximum reactions of the two hands, the average reaction of the two hands, largest absolute angular velocity of the knee joints, and the sit-stand-sit duration time. The experimental data are normalized to facilitate comparison. Weighting factors are obtained and analyzed from questionnaires answered by experts and are added to evaluation process for manipulation. The results show that the best strategy is the closed-loop control with parameters Ki=0.5 and Kp=0.

Download Full-text

Closed Loop Control of Index Finger Using Functional Electrical Stimulation

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2018.1a1-j15 ◽

2018 ◽

Vol 2018 (0) ◽

pp. 1A1-J15 ◽

Cited By ~ 1

Author(s):

Yuu HASEGAWA ◽

Tomoya KITAMURA ◽

Hiroto MIZOGUCHI ◽

Naoto MIZUKAMI ◽

Sho SAKAINO ◽

...

Keyword(s):

Electrical Stimulation ◽

Functional Electrical Stimulation ◽

Closed Loop ◽

Index Finger ◽

Closed Loop Control ◽

Loop Control

Download Full-text

Design of wearable system for closed-loop control of gait restoration system by Functional Electrical Stimulation

2015 International Seminar on Intelligent Technology and Its Applications (ISITIA) ◽

10.1109/isitia.2015.7219967 ◽

2015 ◽

Cited By ~ 5

Author(s):

Fauzan Arrofiqi ◽

Achmad Arifin ◽

Benicditus Indrajaya

Keyword(s):

Electrical Stimulation ◽

Functional Electrical Stimulation ◽

Closed Loop ◽

Closed Loop Control ◽

Wearable System ◽

Loop Control

Download Full-text

Feedback control of the forearm movement of tetraplegic patient based on microsoft kinect and multi-pad electrodes

Journal of Automatic Control ◽

10.2298/jac1301007s ◽

2013 ◽

Vol 21 (1) ◽

pp. 7-11 ◽

Cited By ~ 5

Author(s):

Matija Strbac ◽

Nebojsa Malesevic ◽

Radoje Cobeljic ◽

Laszlo Schwirtlich

Keyword(s):

Sensory Feedback ◽

Closed Loop ◽

Microsoft Kinect ◽

Hand Position ◽

Closed Loop Control ◽

The Novel ◽

Upper Arm ◽

Loop Control ◽

Novel Algorithm ◽

Stimulation Of

We present a novel system for control of elbow movements by electrical stimulation of the biceps and triceps in tetraplegic patients. The operation of the system uses the novel algorithm and applies closed loop control. Movement of the arm is generated via multi-pad electrodes developed by Tecnalia Serbia, Ltd. by the stimulator that allows asynchronous activation of individual pads. The electrodes are positioned over the innervation of the biceps and triceps muscles on the upper arm. This layout allows distributed activation; thereby, selective and low fatiguing activation of paralyzed muscles. The sensory feedback comes from the image acquired by the Microsoft Kinect system and the depth stream analysis is performed in real time by the computer running in the MatLab environment. The image based feedback allows control of the hand position at the target by cocontraction of the antagonists. The control adjusts the stimulation intensity and results with the tracking of the desired movement. The algorithm was proven to operate efficiently in a tetraplegic patient.

Download Full-text