Work

Data-Driven Dynamic Motion Planning for Practical FES-Controlled Reaching Motions in Spinal Cord Injury

Year: 2023

Type: article

Abstract: Functional electrical stimulation (FES) is a promising technology for restoring reaching motions to individuals with upper-limb paralysis caused by a spinal cord injury (SCI). However, the limited muscle capabilities of an individual with SCI have made achieving FES-driven reaching difficult. We developed a novel trajectory optimization method that used experimentally measured muscle capability data to find feasible reaching trajectories. In a simulation based on a real-life individual with SCI, we compared our method to attempting to follow naive direct-to-target paths. We tested our trajectory planner with three control structures that are commonly used in applied FES: feedback, feedforward-feedback, and model predictive control. Overall, trajectory optimization improved the ability to reach targets and improved the accuracy for the feedforward-feedback and model predictive controllers ( ). The trajectory optimization method should be practically implemented to improve the FES-driven reaching performance.

Source: IEEE Transactions on Neural Systems and Rehabilitation Engineering

DOI: 10.1109/tnsre.2023.3272929

Authors: Derek N. Wolf, Antonie J. van den Bogert, Eric M. Schearer

Institutions: Cleveland State University, Vanderbilt University, MetroHealth Medical Center

Language: English

Topic: Spinal Cord Injury Research

Subfield: Pathology and Forensic Medicine

Field: Medicine

Domain: Health Sciences

SDG: Good health and well-being

Open Access status: gold

Estimated APC paid: $1,950