Feedback control of unsupported standing in paraplegia. Part I: optimal control approach

This is the first of a pair of papers which describe an investigation into the feasibility of providing artificial balance to paraplegics using electrical stimulation of the paralyzed muscles. By bracing the body above the shanks, only stimulation of the plantarflexors is necessary. This arrangement prevents any influence from the intact neuromuscular system above the spinal cord lesion. Here, the authors extend the design of the controllers to a nested-loop LQG (linear quadratic Gaussian) stimulation controller which has ankle moment feedback (inner loops) and inverted pendulum angle feedback (outer loop). Each control loop is tuned by two parameters, the control weighting and an observer rise-time, which together determine the behavior. The nested structure was chosen because it is robust, despite changes in the muscle properties (fatigue) and interference from spasticity

Feedback control of unsupported standing in paraplegia. Part II: experimental results

For pt. I see ibid., vol. 5, no. 4, p. 331-40 (1997). This is the second of a pair of papers which describe an investigation into the feasibility of providing artificial balance to paraplegics using electrical stimulation of the paralyzed muscles. By bracing the body above the shanks, only stimulation of the plantar flexors is necessary. This arrangement prevents any influence from the intact neuromuscular system above the spinal cord lesion. Here, the authors present experimental results from intact and paraplegic subjects

Investigation of the Hammerstein hypothesis in the modeling of electrically stimulated muscle

To restore functional use of paralyzed muscles by automatically controlled stimulation, an accurate quantitative model of the stimulated muscles is desirable. The most commonly used model for isometric muscle has had a Hammerstein structure, in which a linear dynamic block is preceded by a static nonlinear function, To investigate the accuracy of the Hammerstein model, the responses to a pseudo-random binary sequence (PRBS) excitation of normal human plantarflexors, stimulated with surface electrodes, were used to identify a Hammerstein model but also four local models which describe the responses to small signals at different mean levels of activation. Comparison of the local models with the Linearized Hammerstein model showed that the Hammerstein model concealed a fivefold variation in the speed of response. Also, the small-signal gain of the Hammerstein model was in error by factors up to three. We conclude that, despite the past widespread use of the Hammerstein model, it is not an accurate representation of isometric muscle. On the other hand, local models, which are more accurate predictors, can be identified from the responses to short PRBS sequences. The utility of local models for controller design is discussed

Optimal control of ankle joint moment: Toward unsupported standing in paraplegia

This paper considers part of the problem of how to provide unsupported standing for paraplegics by feedback control. In this work our overall objective is to stabilize the subject by stimulation only of his ankle joints while the other joints are braced, Here, we investigate the problem of ankle joint moment control. The ankle plantarflexion muscles are first identified with pseudorandom binary sequence (PRBS) signals, periodic sinusoidal signals, and twitches. The muscle is modeled in Hammerstein form as a static recruitment nonlinearity followed by a linear transfer function. A linear-quadratic-Gaussian (LQG)-optimal controller design procedure for ankle joint moment was proposed based on the polynomial equation formulation, The approach was verified by experiments in the special Wobbler apparatus with a neurologically intact subject, and these experimental results are reported. The controller structure is formulated in such a way that there are only two scalar design parameters, each of which has a clear physical interpretation. This facilitates fast controller synthesis and tuning in the laboratory environment. Experimental results show the effects of the controller tuning parameters: the control weighting and the observer response time, which determine closed-loop properties. Using these two parameters the tradeoff between disturbance rejection and measurement noise sensitivity can be straightforwardly balanced while maintaining a desired speed of tracking. The experimentally measured reference tracking, disturbance rejection, and noise sensitivity are good and agree with theoretical expectations

Special section on rehabilitation via bio-cooperative control

The seven articles in this special section focus on rehabilitation via bio-cooperative control. In this special section, the idea of bio-cooperative control has been applied to different kinds of rehabilitation devices (e.g., exoskeletal robots, end-effector robots, wheelchairs) used for the training of gait or arm movements or for the assessment of entire body activity of healthy subjects and patients with stroke or other neurological disorders

MIMICS: Multimodal immersive motion rehabilitation of upper and lower extremities by exploiting biocooperation principles

The purpose of this paper is to present the newly founded European research project MIMICS. The hypothesis of this project is that movement training for neurorehabilitation can be substantially improved through immersive and multimodal sensory feedback. The approach is real-time acquisition of behavioral and physiological data from patients and the use of this to adaptively and dynamically change the displays of an immersive virtual reality system, with the goal of maximizing patient motivation. In this project two exemplary systems are complemented for robot-assisted rehabilitation of upper and lower extremities. The systems are able to record multi-sensory data (motion, forces, voice, muscle activity, heart rate, skin conductance etc.) and process this data in real-time to infer the intention of the patient and the overall psycho-physiological state. The computed information will be used to modify immersive virtual reality systems including 3D graphics and 3D sound. Experimental tests on humans are underway with expected basic insights into the presence and motivation of humans. Furthermore, MIMICS technology is entering clinical routine so that large patient populations (e.g. stroke, spinal cord injury) can benefit. ©2009 IEEE

Variation of recruitment nonlinearity and dynamic response of ankle plantarflexors

The ankle plantarflexor muscles of paraplegics may be trained to provide balance without support from the hands (in the laboratory environment) with the controller based on a two- block Hammerstein muscle model. This paper presents data on the variations of the recruitment curve block and linear dynamics block with electrode position, among various individuals and with fatigue. The tests were conducted in six groups: 'a' tests of a neurologically-intact subject were repeated on one day several times to record the effect of muscle fatigue; 'b' the same individual kept electrodes attached for a week and the muscle was identified every day; 'c' the same subject attached electrodes at marked positions every day for a week prior to identification; 'd' another normal attached electrodes at notionally the same positions over a period of one week; 'e' three normals and 'f two paraplegics. Measurements were made with the Wobbler apparatus, in which the subject is supported upright in a standing posture. When comparing tests of fresh muscle every day, little difference was found between the nonlinear recruitment curves and linear dynamics of groups 'b' and 'c'. In fatigued muscle the dynamics were slower. When the electrode position was not carefully reproduced, and over a longer period, significant differences in nonlinearity appear in the curve shapes (group 'd') and a similar amount of variation occurs between normals, between paraplegics, and from normals to paraplegics. The paraplegic curves show wider deadbands, The effect of prolonged stimulation on normals is slight but on paraplegics it is significant