System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation

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

doi:10.1109/ICRA.2012.6224981

System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Scopus citations

Abstract

We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES). The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model is identified that describes the mapping from muscle stimulations to the endpoint force measured at the subject's hand. To compute the muscle stimulations given a target endpoint force the model is inverted. Because the system is redundant, we compute the inverse by minimizing muscle activations and use this inverse for feedforward control. This is the first published demonstration with a human subject with a high spinal cord injury of an FES controller that treats the arm with shoulder and elbow as a multiple-input multiple-output system and can achieve arbitrary goals.

Original language	English (US)
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3698-3705
Number of pages	8
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224981
State	Published - Jan 1 2012
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: May 14 2012 → May 18 2012

Other

Other	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	5/14/12 → 5/18/12

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2012.6224981

Cite this

Schearer, E. M., Liao, Y. W., Perreault, E., Tresch, M. C., Memberg, W. D., Kirsch, R. F., & Lynch, K. M. (2012). System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 3698-3705). Article 6224981 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224981

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title = "System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation",

abstract = "We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES). The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model is identified that describes the mapping from muscle stimulations to the endpoint force measured at the subject's hand. To compute the muscle stimulations given a target endpoint force the model is inverted. Because the system is redundant, we compute the inverse by minimizing muscle activations and use this inverse for feedforward control. This is the first published demonstration with a human subject with a high spinal cord injury of an FES controller that treats the arm with shoulder and elbow as a multiple-input multiple-output system and can achieve arbitrary goals.",

author = "Schearer, {Eric M.} and Liao, {Yu Wei} and Eric Perreault and Tresch, {Matthew C} and Memberg, {William D.} and Kirsch, {Robert F.} and Lynch, {Kevin M}",

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doi = "10.1109/ICRA.2012.6224981",

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Schearer, EM, Liao, YW, Perreault, E , Tresch, MC, Memberg, WD, Kirsch, RF & Lynch, KM 2012, System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224981, Institute of Electrical and Electronics Engineers Inc., pp. 3698-3705, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6224981

System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation. / Schearer, Eric M.; Liao, Yu Wei; Perreault, Eric et al.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 3698-3705 6224981.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Schearer EM, Liao YW, Perreault E , Tresch MC, Memberg WD, Kirsch RF et al. System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 3698-3705. 6224981 doi: 10.1109/ICRA.2012.6224981

System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation

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