Evaluation of a semi-parametric model for high-dimensional FES control
Evaluation of a semi-parametric model for high-dimensional FES control
复制标题
高维 FES 控制半参数模型的评估
DOI：
10.1109/ner.2015.7146620
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
K. Lynch
中科院分区：
文献类型：
--
作者：
Eric M. Schearer;Yu;E. Perreault;M. Tresch;W. Memberg;R. Kirsch;K. Lynch
功能性电刺激可用于使瘫痪的肌肉恢复活力，从而恢复脊髓损伤 (SCI) 后的运动能力。开发用于涉及多个肌肉和运动学自由度的复杂任务的 FES 控制器仍然是一项艰巨的任务，部分原因是开发稳健的控制模型面临着挑战。在这里，我们演示了将数据驱动的半参数模型合并到 FES 控制器中的实用性。根据从具有高水平 SCI 和植入 FES 神经假体的单个受试者收集的实验数据来估计受试者特定模型。该模型用作手臂运动学前馈控制器的一部分。该系统在有足够肌肉力量的工作空间区域表现良好。它可用于预测当 FES 产生的力量不可用时所需的额外援助。这些结果展示了开发前馈 FES 控制器的第一步，该控制器可用作反馈系统的一部分，以恢复手臂控制或将 FES 与轻型机器人技术相结合以进行增强的协作系统。
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.
影响因子：
2.4
作者：
Perreault, EJ;Heckman, CJ;Sandercock, TG
通讯作者：
Sandercock, TG
基于模型的神经假体开发，用于恢复近端手臂功能。
DOI：
--
发表时间：
2001
期刊：
Journal of rehabilitation research and development.
影响因子：
--
作者：
Kirsch,RF;Acosta,AM;vanderHelm,FC;Rotteveel,RJ;Cash,LA
通讯作者：
Cash,LA