Error mapping controller: a closed loop neuroprosthesis controlled by artificial neural networks

BACKGROUND: The design of an optimal neuroprostheses controller and its clinical use presents several challenges. First, the physiological system is characterized by highly inter-subjects varying properties and also by non stationary behaviour with time, due to conditioning level and fatigue. Secondly, the easiness to use in routine clinical practice requires experienced operators. Therefore, feedback controllers, avoiding long setting procedures, are required. METHODS: The error mapping controller (EMC) here proposed uses artificial neural networks (ANNs) both for the design of an inverse model and of a feedback controller. A neuromuscular model is used to validate the performance of the controllers in simulations. The EMC performance is compared to a Proportional Integral Derivative (PID) included in an anti wind-up scheme (called PIDAW) and to a controller with an ANN as inverse model and a PID in the feedback loop (NEUROPID). In addition tests on the EMC robustness in response to variations of the Plant parameters and to mechanical disturbances are carried out. RESULTS: The EMC shows improvements with respect to the other controllers in tracking accuracy, capability to prolong exercise managing fatigue, robustness to parameter variations and resistance to mechanical disturbances. CONCLUSION: Different from the other controllers, the EMC is capable of balancing between tracking accuracy and mapping of fatigue during the exercise. In this way, it avoids overstressing muscles and allows a considerable prolongation of the movement. The collection of the training sets does not require any particular experimental setting and can be introduced in routine clinical practice

Alterações na coerência cortical inter-hemisférica produzidas pela estimulação elétrica funcional (FES) Changes in cortical interhemispheric coherence produced by functional electrical stimulation (FES)

O presente estudo teve como objetivo observar alterações corticais produzidas pela estimulação elétrica funcional (FES), através da eletrencefalografia quantitativa (EEGq). Simultaneamente à captação do sinal eletrencefalográfico, realizou-se uma eletroestimulação no antebraço direito para estimulaç��o da extensão do indicador. A amostra consistiu de 45 sujeitos randomizados em 3 grupos de 15. O grupo controle foi submetido a 24 blocos de estimulação com intensidade de corrente zero. O grupo 1 foi submetido a 24 blocos e o grupo 2 a 36 blocos. A coerência entre os pares de eletrodos F3-F4, C3-C4 e P3-P4 foi analisada ao longo dos grupos através de avaliação estatística. Os resultados apontaram para um aumento da coerência inter-hemisférica após a eletroestimulação.<br>The aim of the present study was to observe cortical alterations produced by functional electrical stimulation (FES), through quantitative electroencephalography (qEEG). Electrostimulation was performed on the right forearm to stimulate the extension of the index finger. EEG activity was recorded simultaneously. The sample consisted of 45 subjects randomly divided into 3 groups of 15 subjects each. The control group was submitted to 24 blocks of stimulation at a current intensity of zero. Group 1 was submitted to 24 blocks and group 2 to 36 blocks. Interhemispheric coherence between F3-F4, C3-C4 and P3-P4 was assessed through a statistical analysis. Results pointed out to increased coherence values after stimulation