Feedback Control of Functional Electrical Stimulation for 2-D Arm Reaching Movements

摘要: Functional electrical stimulation (FES) can be used as a neuroprosthesis in which muscles are stimulated by pulses to compensate for the loss of voluntary movement control. Modulating intensities reliably generate movements is challenging control problem. This paper introduces feedback controller multi-muscle FES system hand 2-D (table-top) task space. based on recent human motor model, uses muscle synergies simplify its calculations and improve performance. synergy-based employs direct relations between produced force, therefore allowing real-time calculation six levels required reach an arbitrary target. The experimental results show that this scheme perform point-to-point reaching tasks space real time, with average ~2 cm final position error from specified targets. success prototype demonstrates potential proposed method functional FES.