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 proceedingConference 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 languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3698-3705
Number of pages8
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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). [6224981] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224981