Feedback control of arm movements using Neuro-Muscular Electrical Stimulation (NMES) combined with a lockable, passive exoskeleton for gravity compensation
Feedback control of arm movements using Neuro-Muscular Electrical Stimulation (NMES) combined with a lockable, passive exoskeleton for gravity compensation
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DOI：
10.3389/fnins.2014.00262
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发表时间：
2014-09-02
影响因子：
4.3
通讯作者：
Pedrocchi, Alessandra
中科院分区：
文献类型：
--
作者：
Klauer, Christian;Schauer, Thomas;Pedrocchi, Alessandra
在欧洲 MUNDUS 项目中，开发了一个辅助框架，用于支持严重受损人士日常生活活动中的手臂和手部功能。本贡献旨在设计一种用于神经肌肉电刺激 (NMES) 的反馈控制系统，使因高度脊髓损伤而无法对手臂和肩部进行残余自主控制的患者能够达到功能。 NMES 应用于三角肌和二头肌，并与三自由度 (DoF) 被动外骨骼集成，部分补偿重力并允许锁定每个 DOE。用户能够选择目标手部位置并使用眼动仪系统触发动作。目标位置通过使用眼动仪来选择，并通过使用 Microsoft Kinect 的基于标记的跟踪系统来确定。中央控制器（即有限状态机）向实时手臂控制器发出一系列基本运动命令。 NMES 控制算法顺序控制每个关节角度，同时锁定其他自由度。系统可以支持日常活动，例如喝水、梳头、按闹钟按钮等。在饮酒任务期间，对五名健康受试者评估了稳健且易于调节的控制方法。受试者被要求保持被动并允许 NMES 诱导运动。在所有这些中，控制器都能够执行任务，并且手的平均定位误差小于五厘米。将手从静止位置移至饮水杯、将杯子移至嘴部并移回以及最终将手臂返回至静止位置的平均总时间为 71 秒。
Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES) to enable reaching functions in people with no residual voluntary control of the arm and shoulder due to high level spinal cord injury. NMES is applied to the deltoids and the biceps muscles and integrated with a three degrees of freedom (DoFs) passive exoskeleton, which partially compensates gravitational forces and allows to lock each DOE The user is able to choose the target hand position and to trigger actions using an eyetracker system. The target position is selected by using the eyetracker and determined by a marker-based tracking system using Microsoft Kinect. A central controller, i.e., a finite state machine, issues a sequence of basic movement commands to the real-time arm controller. The NMES control algorithm sequentially controls each joint angle while locking the other DoFs. Daily activities, such as drinking, brushing hair, pushing an alarm button, etc., can be supported by the system. The robust and easily tunable control approach was evaluated with five healthy subjects during a drinking task. Subjects were asked to remain passive and to allow NMES to induce the movements. In all of them, the controller was able to perform the task, and a mean hand positioning error of less than five centimeters was achieved. The average total time duration for moving the hand from a rest position to a drinking cup, for moving the cup to the mouth and back, and for finally returning the arm to the rest position was 71 s.