New control strategies for neuroprosthetic systems

The availability of techniques to artificially excite paralyzed muscles opens enormous potential for restoring both upper and lower extremity movements with\ud neuroprostheses. Neuroprostheses must stimulate muscle, and control and regulate the artificial movements produced. Control methods to accomplish these tasks include feedforward (open-loop), feedback, and adaptive control. Feedforward control requires a great deal of information about the biomechanical behavior of the limb. For the upper extremity, an artificial motor program was developed to provide such movement program input to a neuroprosthesis. In lower extremity control, one group achieved their best results by attempting to meet naturally perceived gait objectives rather than to follow an exact joint angle trajectory. Adaptive feedforward control, as implemented in the cycleto-cycle controller, gave good compensation for the gradual decrease in performance observed with open-loop control. A neural network controller was able to control its system to customize stimulation parameters in order to generate a desired output trajectory in a given individual and to maintain tracking performance in the presence of muscle fatigue. The authors believe that practical FNS control systems must\ud exhibit many of these features of neurophysiological systems

Doctor of Philosophy

dissertationParalysis due to spinal cord injury or stroke can leave a person with intact peripheral nerves and muscles, but deficient volitional motor control, thereby reducing their health and quality of life. Functional neuromuscular stimulation (FNS) has been widely studied and employed in clinical devices to aid and restore lost or deficient motor function. Strong, selective, and fatigue-resistant muscle forces can be evoked by asynchronously stimulating small independent groups of motor neurons via multiple intrafascicular electrodes on an implanted Utah slanted electrode array (USEA). Determining the parameters of asynchronous intrafascicular multi-electrode stimulation (aIFMS), i.e., the per-electrode stimulus intensities and the interelectrode stimulus phasing, to evoke precise muscle force or joint motion presents unique challenges because this system has multiple-inputs, the n independently stimulated electrodes, but only one measurable output, the evoked endpoint isometric force or joint position. This dissertation presents three studies towards developing robust real-time control of aIFMS. The first study developed an adaptive feedforward algorithm for selecting aIFMS per-electrode stimulus intensities and interelectrode stimulus phasing to evoke a variety of isometric ankle plantar-flexion force trajectories. In simulation and experiments, desired step, sinusoidal, and more-complex time-varying isometric forces were successfully evoked. The second study developed a closed-loop feedback control method for determining aIFMS per-electrode stimulus intensities to evoke precise single-muscle isometric ankle plantar-flexion force trajectories, in real-time. Using a proportional closed-loop force-feedback controller, desired step, sinusoid, and more complex time-varying forces were evoked with good response characteristics, even in the presence of nonlinear system dynamics, such as muscle fatigue. The third study adapted and extended the closed-loop feedback controller to the more demanding task of controlling joint position in the presence of opposing joint torques. A proportional-plus-velocity-plus-integral (PIV) joint-angle feedback controller evoked and held desired steps in position with responses th a t were stable, consistent, and robust to disturbances. The controller evoked smooth ramp-up (concentric) and ramp-down (eccentric) motion, as well as precise slow moving sinusoidal motion. The control methods developed in this dissertation provide a foundation for new lower-limb FNS-based neuroprostheses that can generate sustained and coordinated muscle forces and joint motions that will be desired by paralyzed individuals on a daily basis. proportional-plus-velocity-plus-integral (PIV) joint-angle feedback controller evoked and held desired steps in position with responses th a t were stable, consistent, and robust to disturbances. The controller evoked smooth ramp-up (concentric) and ramp-down (eccentric) motion, as well as precise slow moving sinusoidal motion. The control methods developed in this dissertation provide a foundation for new lower-limb FNS-based neuroprostheses that can generate sustained and coordinated muscle forces and joint motions that will be desired by paralyzed individuals on a daily basis

Hydrodynamic stability of swimming in ostraciid fishes: role of the carapace in the smooth trunkfish Lactophrys triqueter (Teleostei: Ostraciidae)

The hydrodynamic bases for the stability of locomotory motions in fishes are poorly understood, even for those fishes, such as the rigid-bodied smooth trunkfish Lactophrys triqueter, that exhibit unusually small amplitude recoil movements during rectilinear swimming. We have studied the role played by the bony carapace of the smooth trunkfish in generating trimming forces that self-correct for instabilities. The flow patterns, forces and moments on and around anatomically exact, smooth trunkfish models positioned at both pitching and yawing angles of attack were investigated using three methods: digital particle image velocimetry (DPIV), pressure distribution measurements, and force balance measurements. Models positioned at various pitching angles of attack within a flow tunnel produced well-developed counter-rotating vortices along the ventro-lateral keels. The vortices developed first at the anterior edges of the ventro-lateral keels, grew posteriorly along the carapace, and reached maximum circulation at the posterior edge of the carapace. The vortical flow increased in strength as pitching angles of attack deviated from 0°, and was located above the keels at positive angles of attack and below them at negative angles of attack. Variation of yawing angles of attack resulted in prominent dorsal and ventral vortices developing at far-field locations of the carapace; far-field vortices intensified posteriorly and as angles of attack deviated from 0°. Pressure distribution results were consistent with the DPIV findings, with areas of low pressure correlating well with regions of attached, concentrated vorticity. Lift coefficients of boxfish models were similar to lift coefficients of delta wings, devices that also generate lift through vortex generation. Furthermore, nose-down and nose-up pitching moments about the center of mass were detected at positive and negative pitching angles of attack, respectively. The three complementary experimental approaches all indicate that the carapace of the smooth trunkfish effectively generates self-correcting forces for pitching and yawing motions — a characteristic that is advantageous for the highly variable velocity fields experienced by trunkfish in their complex aquatic environment. All important morphological features of the carapace contribute to producing the hydrodynamic stability of swimming trajectories in this species

Theories for Skilled Limb Movements .

Some of the theories that have been advanced to perform skilled limb movements are reviewed in this paper. The aspects discussed in brief include alpha-gamma control, choice of control variables in limb movements, equilibrium point hypotheses, experimental observations from simple movement studies and explanations proposed, in particular the dual strategy hypothesis. The single mechanical degree-of-freedom movements may be controlled by one of two strategies: a speed-insensitive strategy or a speed-sensitive strategy. The term strategy implies a set of rules which specify in terms of task variables and subject instructions how to choose the excitation signal, the controlling signal at the alpha motoneuron level. The two strategies differ in that speed-insensitive strategy is a result of duration modulation of the excitation pulse, whereas the speed-sensitive strategy is a result from amplitude modulation. Finally, the problem of multi-degrees of freedom movements and the role of higher motor control centres are discussed in brief

Haptic induced motor learning and the extension of its benefits to stroke patients

In this research, the Haptic Master robotic arm and virtual environments are used to induce motor learning in subjects with no known musculoskeletal or neurological disorders. It is found in this research that both perception and performance of the subject are increased through the haptic and visual feedback delivered through the Haptic Master. These system benefits may be extended to enhance therapies for patients with loss of motor skills due to neurological disease or brain injury. Force and visual feedback were manipulated within virtual environment scenarios to facilitate learning. In one force feedback condition, the subject is required to maneuver a sphere through a haptic maze or linear channel. In the second feedback condition, the subject\u27s movement was stopped when the sphere came in contact with the haptic walls. To resume movement, the force vector had to be redirected towards the optimal trajectory. To analyze the efficiency of the various scenarios, the area between the optimal and actual trajectories was used as a measure of learning. The results from this research demonstrated that within more complex environments one type of force feedback was more successful in facilitating motor learning. In a simpler environment, two out of three subjects experienced a higher degree of motor learning with the same type of force feedback. Learning is not enhanced with the presence of visual feedback. Also, in nearly all studied cases, the primary limitation to learning is shoulder and attention fatigue brought on by the experimentation

Wave-based control of under-actuated flexible structures with strong external disturbing forces

Wave-based control of under-actuated, flexible systems has many advantages over other methods. It considers actuator motion as launching a mechanical wave into the flexible system which it absorbs on its return to the actuator. The launching and absorbing proceed simultaneously. This simple, intuitive idea leads to robust, generic, highly efficient, precise, adaptable controllers, allowing rapid and almost vibrationless re-positioning of the system, using only sensors collocated at the actuator-system interface. It has been very successfully applied to simple systems such as mass-spring strings, systems of Euler-Bernoulli beams, planar mass-spring arrays, and flexible three-dimensional space structures undergoing slewing motion. In common with most other approaches, this work also assumed that, during a change of position, the forces from the environment were negligible in comparison with internal forces and torques. This assumption is not always valid. Strong external forces considerably complicate the flexible control problem, especially when unknown, unexpected or unmodelled. The current work extends the wave-based strategy to systems experiencing significant external disturbing forces, whether enduring or transient. The work also provides further robustness to sensor errors. The strategy has the controller learn about the disturbances and compensate for them, yet without needing new sensors, measurements or models beyond those of standard wave-based control

MATHEMATICAL MODEL OF ADAPTIVE MOTOR CONTROL

An adaptive control law incorporating a biologically inspired neural networks for robot control is used as a mathematical model of human motor control and the motor control adaptation. Modeling human motor control strategy is made difficult due to the redundancies in the human motor control system. This control model is able to overcome the difficulties of the human motor control modelling, and include the learning capability of the motor control strategy which was omitted in human motor control studies until now. By adaptively piecing together a collection of elementary computational elements, the proposed model develops complex internal models which are used to compensate for the effects of externally imposed forces or changes in the physical properties of the system. In order to examine the form of human motor control adaptation in detail, a computer simulation was developed with a two dimensional model of the human arm which utilized the proposed adaptive motor control model. The simulation result show that the model is able to capture the characteristics of the motor control adaptation seen in human experiments reported by [14], [46]. For cont inuation of this research, an experimental apparatus was designed and built for the human motor control study. This apparatus is a cable driven, two-dimensional manipulator which is used to apply specified disturbance forces to the human arm. The preliminary experiment conducted with this test apparatus show a strong correlation to the simulation data and other experimental data reported on human reaching motions

Change blindness: eradication of gestalt strategies

Arrays of eight, texture-defined rectangles were used as stimuli in a one-shot change blindness (CB) task where there was a 50% chance that one rectangle would change orientation between two successive presentations separated by an interval. CB was eliminated by cueing the target rectangle in the first stimulus, reduced by cueing in the interval and unaffected by cueing in the second presentation. This supports the idea that a representation was formed that persisted through the interval before being 'overwritten' by the second presentation (Landman et al, 2003 Vision Research 43149–164]. Another possibility is that participants used some kind of grouping or Gestalt strategy. To test this we changed the spatial position of the rectangles in the second presentation by shifting them along imaginary spokes (by ±1 degree) emanating from the central fixation point. There was no significant difference seen in performance between this and the standard task [F(1,4)=2.565, p=0.185]. This may suggest two things: (i) Gestalt grouping is not used as a strategy in these tasks, and (ii) it gives further weight to the argument that objects may be stored and retrieved from a pre-attentional store during this task