The effects of trunk stimulation on bimanual seated workspace

This study explores the effects of functional electrical stimulation (FES) of the lumbar trunk extensors on the seated posture and bimanual workspace of subjects with spinal cord injury (SCI). Four subjects with motor complete SCI with implanted intramuscular stimulating electrodes to activate the lumbar erector spinae were studied. The positions of markers on the pelvis, trunk, and hands were monitored by a motion capture system during bimanual reaching maneuvers. To define three-dimensional functional workspace boundaries, subjects swept their hands through the extremes of their range of motion without losing balance while sitting. To characterize forward reach, subjects reached to targets in the sagittal plane while carrying various masses with and without FES. Reaching trials were rated on the seven-point usability rating scale to determine effort and subject preference and change in pelvic angle with stimulation was monitored. There was a consistent change in the seated posture with FES in all subjects that resulted in significant forward or upward (6.85 cm +/- 2.15 cm) shifts in the workspace. Workspace volumes increased for two of the four subjects tested. FES caused significant anterior rotation of the pelvis to restore a more natural lumbar curve without a backrest (19.81 degrees +/- 8.75 degrees). With a backrest, the change in posture with FES allowed individuals with SCI to reach further in the sagittal plane and carry heavier masses by shifting the trunk, allowing increased elbow extension, or a combination of the two mechanisms. Reaching with FES was consistently preferred over reaching without FES. This preliminary study is encouraging for future research on trunk stability and reaching ability with FES.     

The effect of joint angle on the timing of muscle contractions elicited by neuromuscular electrical stimulation

Neuromuscular electrical stimulation was used to evoke isometric knee extension contractions in seven individuals with spinal cord injury (SCI) and the time for knee extension torque to rise and fall was measured across a range of knee angles. The stimulated muscles took more than twice as long to develop 50% of maximum torque at an angle of 15 degrees, compared to an angle of 90 degrees. This time difference comprised both an increased delay before torque rose above resting levels (31 +/- 3 ms at 90 degrees, 67 +/- 24 ms at 15 degrees), and a prolonged duration over which torque was rising (72 +/- 14 ms at 90 degrees, 140 +/- 62 ms at 15 degrees). There was no change, however, in the time taken for torque to fall after cessation of stimulation at different knee angles (58 +/- 5-ms delay, 60 +/- 11-ms fall time). The difference in torque rise time with joint angle has implications for modeling functional activities that differ greatly in their joint angles. This study provides regression equations whereby activation times for the quadriceps muscles of individuals with SCI can be predicted for specific angles of knee flexion.     

电机位置伺服控制器的参数化设计及试验比较

为在伺服电机上实现准确的位置调节,提出了基于扩展状态观测器的鲁棒复合伺服控制和带误差积分的线性反馈控制方案,并以闭环阻尼和自然频率等作为设计参数,给出了全参数化的离散时域控制律。控制律在1台永磁同步电机上进行了试验测试。结果表明鲁棒复合控制在较大范围的位置目标和负载转矩下实现准确的点位运动,瞬态性能良好;而基于积分的线性反馈控制当目标位置或负载发生变化时伺服性能出现明显恶化,缺乏鲁棒性。     

Simulation of a functional neuromuscular stimulation powered mechanical gait orthosis with coordinated joint locking.

The purpose of this study was to examine a hybrid orthosis system (HOS) for walking after spinal-cord injury (SCI) that coordinates the mechanical locking and unlocking of knee and ankle joints of a reciprocating gait orthosis (RGO), while propulsive forces are injected and unlocked joints controlled with functional neuromuscular stimulation (FNS). The likely effectiveness of the HOS in terms of forward progression, stability, and posture of paraplegic gait was determined in this simulation study. A three-dimensional computer model of a HOS combining FNS with an RGO incorporating feedback control of muscle activation and joint locking was developed. An anthropomorphic human model included passive joint moments and a foot-ground contact model adapted from other studies. A model of the RGO reciprocally coupled the hips and locked and unlocked the knee and ankle joints during stance and swing respectively. The actions of muscles under FNS activation were modeled via closed-loop control of joint torque inputs. A walking aid that mimicked canes and voluntary upper extremity actions maintained lateral stability by providing the necessary shoulder forces and moments. The simulated HOS achieved gait speeds of 0.51 +/- 0.03 m/s, stride lengths of 0.85 +/- 0.04 m, and cadences of 72 +/- 4 steps/min, exceeding the reported performance of other assistive gait systems. Although minimal forward trunk tilt was found to be necessary during specific phases of gait, posture, and stability were significantly improved over FNS-only systems.     

Musculoskeletal Model-Guided, Customizable Selection of Shoulder and Elbow Muscles for a C5 SCI Neuroprosthesis

Individuals with C5/C6 spinal cord injury (SCI) have a number of paralyzed muscles in their upper extremities that can be electrically activated in a coordinated manner to restore function. The selection of a practical subset of paralyzed muscles for stimulation depends on the specific condition of the individual, the functions targeted for restoration, and surgical considerations. This paper presents a musculoskeletal model-based approach for optimizing the muscle set used for functional electrical stimulation (FES) of the shoulder and elbow in this population. Experimentally recorded kinematics from able-bodied subjects served as inputs to a musculoskeletal model of the shoulder and elbow, which was modified to reflect the reduced muscle force capacities of an individual with C5 SCI but also the potential of using FES to activate paralyzed muscles. A large number of inverse dynamic simulations mimicking typical activities of daily living were performed that included (1) muscles with retained voluntary control and (2) many different combinations of stimulated paralyzed muscles. These results indicate that a muscle set consisting of the serratus anterior, infraspinatus and triceps would enable the greatest range of relevant movements. This set will become the initial target in a C5SCI neuroprosthesis to restore shoulder and elbow function.     

Reflex regulation of antagonist muscles for control of joint equilibrium position.

A systems model of spinal neuro-musculo-skeletal system (alpha - gamma model) is developed to investigate the plausible roles of spinal proprioceptive feedback in movement control. The model is composed of a joint, a pair of antagonist muscles, length and velocity feedback from muscle spindle, as well as spinal stretch reflex, reciprocal inhibition and recurrent inhibition of Renshaw cells. A descending command modulates the background activation of alpha motoneuron pools in combination with these reflex activities. A static gamma command controls the fusimotor contraction of the spindle. Simulation results reveal that the equilibrium joint angle is linearly correlated to the level of static gamma fusimotor activity of the spindle for a wide range of external loading conditions and reflex gains, suggesting that these spinal reflexes may contribute to regulate the equilibrium position of the joint. Sensitivity analysis further shows that reflex gains and other central commands alter the quasi-linear relation in regular fashions. The reciprocal inhibition gain changes the slope of the linear theta(eq) - gamma curve; and the descending alpha excitation, the stretch reflex gain, and the external load all shift the theta(eq) - gamma curve in parallel. These results imply that reflex gains and descending alpha commands may be coordinated to maintain a unique theta(eq) - gamma curve while providing the flexibility to counteract external loads, to execute a movement, or to regulate additional muscle variables. Dynamic simulation suggests that control of a class of movements can be achieved with a triphasic, alpha pulse and a continuous gamma signal. The model study supports the notion of a dual strategy for controlling trajectories via a feedforward alpha command and for regulating the final equilibrium positions via a feedback gamma command.     

Effect of initial joint position on nerve-cuff recordings of muscleafferents in rabbits

The objective was to characterize nerve-cuff recordings of muscle afferents to joint rotation over a large part of the physiological joint range. This information is needed to develop control strategies for functional electrical stimulation (FES) systems using muscle afferent signals for sensory feedback. Five acute rabbit experiments were performed. Tripolar cuff electrodes were implanted around the tibial and peroneal divisions of the sciatic nerve in the rabbit's left leg. The electroneurograms (ENG) were recorded during passive ankle rotation, using a ramp-and-hold profile starting at seven different joint positions (excursion=5°, velocity=10°/s, initial positions 60°, 70°, 80°, 90°, 100°, 110°, and 120°). The amplitude of the afferent activity was dependent on the initial joint position. The steady-state sensitivity of both nerve responses increased with increasing joint flexion, whereas the dynamic sensitivity increased initially but then decreased. The results indicate that recordings of the muscle afferents may provide reliable information over only a part of the physiological joint range, Despite this limitation, muscle afferent activity may be useful for motion feedback if the movement to be controlled is within a narrow joint range such as postural sway     

Functional restoration of elbow extension after spinal-cord injury using a neural network-based synergistic FES controller.

Individuals with a C5/C6 spinal-cord injury (SCI) have paralyzed elbow extensors, yet retain weak to strong voluntary control of elbow flexion and some shoulder movements. They lack elbow extension, which is critical during activities of daily living. This research focuses on the functional evaluation of a developed synergistic controller employing remaining voluntary elbow flexor and shoulder electromyography (EMG) to control elbow extension with functional electrical stimulation (FES). Remaining voluntarily controlled upper extremity muscles were used to train an artificial neural network (ANN) to control stimulation of the paralyzed triceps. Surface EMG was collected from SCI subjects while they produced isometric endpoint force vectors of varying magnitude and direction using triceps stimulation levels predicted by a biomechanical model. ANNs were trained with the collected EMG and stimulation levels. We hypothesized that once trained and implemented in real-time, the synergistic controller would provide several functional benefits. We anticipated the synergistic controller would provide a larger range of endpoint force vectors, the ability to grade and maintain forces, the ability to complete a functional overhead reach task, and use less overall stimulation than a constant stimulation scheme.     

A pilot study of myoelectrically controlled FES of upper extremity

Functional electrical stimulation (FES) of upper limbs can be used for the recovery of some hand functions on patients with CNS lesions. This study deals with the control of FES by means of myoelectrical activity detected from voluntarily activated paretic muscles. The specific aim of this paper is to evaluate the accuracy of myoelectrical control in terms of produced force and movement. For this purpose, a specific device called myoelectrical controlled functional electrical stimulator (MeCFES) has been developed and applied to six tetraplegic patients with a spinal cord lesion and one stroke hemiplegic patient. Residual myoelectric signals from the paretic wrist extensor (m. extensor carpi radialis, ECR) have been used to control stimulation of either the wrist extension (i.e., the same muscle) or thumb flexion. A tracking test based on a visual feedback of the produced force or movement compared to a reference target trajectory was used to quantify control accuracy. A comparison was made between the tracking performances of each subject with and without the MeCFES and the learning process for two of the subjects were observed during consecutive sessions. Results showed that the wrist extension was improved in three out of five C5 SCI patients and the thumb flexion was largely increased in one incomplete C3 SCI patient. The hemiplegic patient showed limited thumb control with the MeCFES but indicated the possibility of a carry over effect. It was found that a low residual natural force resulted in a less accurate movement but also with a large increase (up to ten times) of the muscle output. On the contrary, persons with a medium residual force obtained a smaller amplification of muscle force with a higher tracking accuracy     

Feasibility of EMG-Based Neural Network Controller for an Upper Extremity Neuroprosthesis

The overarching goal of this project is to provide shoulder and elbow function to individuals with C5/C6 spinal cord injury (SCI) using functional electrical stimulation (FES), increasing the functional outcomes currently provided by a hand neuroprosthesis. The specific goal of this study was to design a controller based on an artificial neural network (ANN) that extracts information from the activity of muscles that remain under voluntary control sufficient to predict appropriate stimulation levels for several paralyzed muscles in the upper extremity. The ANN was trained with activation data obtained from simulations using a musculoskeletal model of the arm that was modified to reflect C5 SCI and FES capabilities. Several arm movements were recorded from able-bodied subjects and these kinematics served as the inputs to inverse dynamic simulations that predicted muscle activation patterns corresponding to the movements recorded. A system identification procedure was used to identify an optimal reduced set of voluntary input muscles from the larger set that are typically under voluntary control in C5 SCI. These voluntary activations were used as the inputs to the ANN and muscles that are typically paralyzed in C5 SCI were the outputs to be predicted. The neural network controller was able to predict the needed FES paralyzed muscle activations from “voluntary” activations with less than a 3.6% RMS prediction error.      

Breaking it down is better: haptic decomposition of complex movements aids in robot-assisted motor learning

Training with haptic guidance has been proposed as a technique for learning complex movements in rehabilitation and sports, but it is unclear how to best deliver guidance-based training. Here, we hypothesized that breaking down a complex movement, similar to a tennis backhand, into simpler parts and then using haptic feedback from a robotic exoskeleton would help the motor system learn the movement. We also examined how the particular form of the decomposition affected learning. Three groups of unimpaired participants trained with the target arm movement broken down in three ways: 1) elbow flexion/extension and the unified shoulder motion independently ("anatomical" decomposition), 2) three component shoulder motions in Euler coordinates and elbow flexion/extension ("Euler" decomposition), or 3) the motion of the tip of the elbow and motion of the hand with respect to the elbow, independently ("visual" decomposition). A control group practiced the same number of movements, but experienced the target motion only, achieving eight times more direct practice with this motion. Despite less experience with the target motion, part training was better, but only when the arm trajectory was decomposed into anatomical components. Varying robotic movement training to include practice of simpler, anatomically-isolated motions may enhance its efficacy.     

EMG-based prediction of shoulder and elbow kinematics in able-bodied and spinal cord injured individuals.

We have evaluated the ability of a time-delayed artificial neural network (TDANN) to predict shoulder and elbow motions using only electromyographic (EMG) signals recorded from six shoulder and elbow muscles as inputs, both in able-bodied subjects and in subjects with tetraplegia arising from C5 spinal cord injury. For able-bodied subjects, all four joint angles (elbow flexion-extension and shoulder horizontal flexion-extension, elevation-depression, and internal-external rotation) were predicted with average root-mean-square (rms) errors of less than 20 degrees during movements of widely different complexities performed at different speeds and with different hand loads. The corresponding angular velocities and angular accelerations were predicted with even lower relative errors. For individuals with C5 tetraplegia, the absolute rms errors of the joint angles, velocities, and accelerations were actually smaller than for able-bodied subjects, but the relative errors were similar when the smaller movement ranges of the C5 subjects were taken into account. These results indicate that the EMG signals from shoulder and elbow muscles contain a significant amount of information about arm moVement kinematics that could be exploited to develop advanced control systems for augmenting or restoring shoulder and elbow movements to individuals with tetraplegia using functional neuromuscular stimulation of paralyzed muscles.     

Vision-based motion control for robotic systems

The paper presents recent advances of vision-based motion control for robotic systems. The visual feedback loop is very effective for increasing the dexterity and flexibility of robot's task. With the development of vision and computer technology, the visual feedback applications are remarkably expanded for various robotic systems. In the paper, at first, a variety of vision-based approaches in Japan are overviewed from the viewpoint of motion control scheme, and fundamental formulations of visual servo controller are described. And two kinds of visual feedback applications are introduced with several experimental evaluations. The first one is non-delayed visual tracking approach using active stereo vision. It is found that the target motion estimation is an important issue for fast tracking. The other is the motion controller for wheelchair-type mobile robots based on optical flow field. The vision-based feedback controller conducts the force-related motion. Then, the vision makes dynamic environmental change transmitted to human operator through force interaction. The validity of these approaches are evaluated by experimental results. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Postural arm control following cervical spinal cord injury

This study used estimates of dynamic endpoint stiffness to quantify postural arm stability following cervical spinal cord injury (SCI) and to investigate how this stability was affected by functional neuromuscular stimulation (FNS). Measurements were made in the horizontal plane passing through the glenohumeral joint on three SCI-impaired arms, which ranged in functional level from a weak C5 to a strong C6. Endpoint stiffness, which characterizes the relationship between externally imposed hand displacements and the resultant forces, was estimated during the application of planar, stochastic perturbations to each arm. These estimates were used in conjunction with voluntary endpoint force measurements to quantify stability and strength during voluntary contractions and during voluntary contractions in the presence of triceps FNS. The primary findings were: (1) the differences in the force generating capabilities of these arms were due primarily to differences in shoulder strength; (2) measurements of strength alone could not be used to predict arm stability; and (3) triceps FNS improved postural arm stability for all tested conditions. These results suggest strategies for improved control of FNS systems designed to restore arm function following cervical SCI and underscore the importance of examining the effects of FNS on both strength and stability     

Nerve cuff recordings of muscle afferent activity from tibial and peroneal nerves in rabbit during passive ankle motion.

Activity from muscle afferents regarding ankle kinesthesia was recorded using cuff electrodes in a rabbit preparation in which tactile input from the foot was eliminated. The purpose was to determine if such activity can provide information useful in controlling functional electrical stimulation (FES) systems that restore mobility in spinal injured man. The rabbit's ankle was passively flexed and extended while the activity of the tibial and peroneal nerves was recorded. Responses to trapezoidal stimulus profiles were investigated for excursions from 10 degrees to 60 degrees using velocities from 5 degrees/s to 30 degrees/s and different initial ankle positions. The recorded signals mainly reflect activity from primary and secondary muscle afferents. Dorsiflexion stretched the ankle extensors and produced velocity dependent activity in the tibial nerve, and this diminished to a tonic level during the stimulus plateau. The peroneal nerve was silent during dorsiflexion, but was activated by stretch of the peroneal muscles during ankle extension. The responses of the two nerves behaved in a reciprocal manner, but exhibited considerable hysteresis, since motion that relaxed the stretch to the driving muscle produced an immediate cessation of the prior stretch induced activity. A noted difference between the tibial and peroneal nerve responses is that the range of joint position change that activated the flexor afferents was greater then for the extensor afferents. Ankle rotation at higher velocities increased the dynamic stretch evoked responses during the stimulus ramp but showed no effect on the tonic activity during the stimulus plateau. Prestretching the muscles by altering the initial position increased the response to the ramp movement, however, for the peroneal nerve, when the prestretch brought the flexor muscles near to their maximal lengths, the response to additional stretch provided by the ramp movement was diminished. The results indicate that the whole nerve recorded muscle afferent activity may be useful for control of FES assisted standing, because it can indicate the direction of rotation of the passively moved ankle joint, along with coarse information regarding the rate of movement and static joint position.     

Multi‐command SSAEP‐based BCI system with training sessions for SSVEP during an eye fatigue state

This paper proposes a steady‐state auditory stimulus modality and a detection algorithm to replace steady‐state visual evoked potential (SSVEP )‐based brain–computer interface (BCI ) systems during visual fatigue periods. The optimal speaker position for the steady‐state auditory evoked potential (SSAEP )‐based BCI system and possible electrode positions are investigated. Using the proposed system, an accuracy of 85% for two commands was achieved based on the T3–T5 and T4–T6 electrode positions using only one speaker. SSAEP is a promising BCI modality for mitigating the problem of eye fatigue that often occurs during the use of SSVEP ‐based BCI systems. However, SSAEP ‐based BCI systems suffer from low accuracy. To increase accuracy, we propose a new enhanced SSAEP training method. The training process was enhanced by instructing users to control their attention levels while simultaneously detecting an auditory stimulus frequency. Furthermore, we propose a corresponding single‐frequency, multi‐command BCI paradigm for the proposed training method. With the proposed paradigm, four commands can be detected using only one auditory stimulus frequency. The proposed training system yielded an accuracy of ∼81% compared to 66% for sessions performed without the proposed training method. © 2017 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Engineering a more accessible world

Presents the results of the 2000 RESNA student scientific paper and student design competitions. The following topics are dealt with: feasibility of restoring shoulder function in high level tetraplegia; proactive balance while maintaining a stationary wheelie; excursion and stroke frequency differences between manual wheelchair propulsion and pushrim-activated power-assisted wheelchair propulsion; performance evaluation of command control algorithms for upper-extremity neuroprostheses; design of personal augmentation devices (exploratory play agents for children with severe disabilities); boccia ramp used by those with severe motor impairments; switch-activated ball thrower; 4-bar linkage mechanism for child prehensors; a potato wrapper for people with limited hand and finger coordination.     

基于欧拉角的关节活动度测量系统

人体关节活动度的测量在司法鉴定、康复医学等领域有着重要的意义。设计并实现了一种基于欧拉角的关节活动度测量系统,系统利用光学定位设备获取标记点位置信息,通过旋转矩阵变换与欧拉角反解算法计算角度,实现了精确、实时的关节活动度测量。系统适用于人体颈部关节、腰部关节、肩关节、肘关节、腕关节、髋关节、膝关节以及踝关节的活动度测量。精度验证实验结果显示,系统的测量精度可达到0.3°。     

基于C8051F020的高压绝缘子泄漏电流在线监测

利用高效低功耗嵌入式微控制器C8051F020组成的绝缘子泄漏电流在线监测系统的前台监测部分,捕获泄漏电流有效值、超过一定幅值的脉冲峰值和脉冲频度、温度、湿度等数据。后台专家系统接收经MCU预处理的信息后分析、判断绝缘子的污秽程度,并对前台子系统发出指令,实时控制。     

Position command shaping for vibration suppression considering target position correction

This paper presents a command shaping technique based on a minimum jerk control approach that takes into consideration target position correction during motion, for the fast and precise positioning in vibratory mechatronic systems. The positioning controller is designed using a two‐degree‐of‐freedom control: a feedback compensator is synthesized by H_∞ control design to ensure the robust stability, while a feedforward compensator suppresses the vibration in response based on a coprime factorization expression of the plant mechanism. The command shaping, on the other hand, eliminates the corresponding vibration components of the primary and secondary models in the position command, where the continuity of jerk component in the command can be ensured against the target position correction. The effectiveness of the proposed shaping technique has been verified by experiments using a table drive system on a machine stand. © 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 168(3): 38–47, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20838