Evaluation of a semi-parametric model for high-dimensional FES control

Eric M. Schearer, Yu Wei Liao, Eric J. Perreault, Matthew C. Tresch, William D. Memberg, Robert F. Kirsch, Kevin M. Lynch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

Functional electrical stimulation can be used to reanimate paralyzed muscles, thereby restoring movement following spinal cord injury (SCI). Developing FES controllers for complex tasks involving multiple muscles and kinematic degrees of freedom remains formidable, partly due to the challenges associated with developing robust models for control. Here we demonstrate the utility of incorporating a data-driven semi-parametric model into an FES controller. A subject-specific model was estimated from experimental data collected from a single subject with a high-level SCI and an implanted FES neuroprosthesis. The model was used as part of a feedforward controller of arm kinematics. This system performed well for regions of the workspace where sufficient muscle strength was available. It could be used to predict the additional assistance needed when FES-generated strength was not available. These results demonstrate a first step towards developing a feedforward FES controller that could be used as part of a feedback system for restoring arm control or for a cooperative system combining FES with lightweight robotics for augmentation.

Original languageEnglish (US)
Title of host publication2015 7th International IEEE/EMBS Conference on Neural Engineering, NER 2015
PublisherIEEE Computer Society
Pages304-307
Number of pages4
ISBN (Electronic)9781467363891
DOIs
StatePublished - Jul 1 2015
Event7th International IEEE/EMBS Conference on Neural Engineering, NER 2015 - Montpellier, France
Duration: Apr 22 2015Apr 24 2015

Publication series

NameInternational IEEE/EMBS Conference on Neural Engineering, NER
Volume2015-July
ISSN (Print)1948-3546
ISSN (Electronic)1948-3554

Other

Other7th International IEEE/EMBS Conference on Neural Engineering, NER 2015
CountryFrance
CityMontpellier
Period4/22/154/24/15

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering

Cite this

Schearer, E. M., Liao, Y. W., Perreault, E. J., Tresch, M. C., Memberg, W. D., Kirsch, R. F., & Lynch, K. M. (2015). Evaluation of a semi-parametric model for high-dimensional FES control. In 2015 7th International IEEE/EMBS Conference on Neural Engineering, NER 2015 (pp. 304-307). [7146620] (International IEEE/EMBS Conference on Neural Engineering, NER; Vol. 2015-July). IEEE Computer Society. https://doi.org/10.1109/NER.2015.7146620