Skip to main content

Preliminary Experiments of an Adaptive Low-Dimensional Control for a Hybrid Neuroprosthesis

  • 141 Accesses

Part of the Biosystems & Biorobotics book series (BIOSYSROB,volume 15)

Abstract

Hybrid neuroprostheses that use both electric motor drives and functional electrical stimulation for the restoration of walking in persons with paraplegia have a promising potential. However, the hybrid actuation structure introduces effector redundancy, making the system complex and difficult to control. In this paper, preliminary experimental results of a recently developed low-dimensional controller, which is inspired from the muscle synergy principle, are presented. The experiments were performed on an able-bodied subject in a configuration where only one leg is actuated in a cycling manner while the contralateral leg was fixed.

Keywords

  • Electric Motor
  • Model Predictive Control
  • Functional Electrical Stimulation
  • Proportional Derivative Controller
  • Optimal Input

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

This is a preview of subscription content, access via your institution.

Buying options

Chapter
USD   29.95
Price excludes VAT (USA)
  • DOI: 10.1007/978-3-319-46669-9_114
  • Chapter length: 5 pages
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
eBook
USD   429.00
Price excludes VAT (USA)
  • ISBN: 978-3-319-46669-9
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book
USD   549.99
Price excludes VAT (USA)
Hardcover Book
USD   549.99
Price excludes VAT (USA)
Fig. 1
Fig. 2
Fig. 3

References

  1. A.J. del Ama, A.D. Koutsou, J.C. Moreno, A. de-los Reyes, A. Gil-Agudo, J.L. Pons, Review of hybrid exoskeletons to restore gait following spinal cord injury. J. Rehabil. Res. Dev. 49(4), 497–514 (2012)

    CrossRef  Google Scholar 

  2. A. del Ama, Á. Gil-Agudo, J. Pons, J. Moreno, Hybrid FES-robot cooperative control of ambulatory gait rehabilitation exoskeleton. J. NeuroEng. Rehabil. 11(1), 27 (2014)

    CrossRef  Google Scholar 

  3. N.A. Alibeji, N.A. Kirsch, N. Sharma, An adaptive low-dimensional control for a hybrid neuroprosthesis, in IFAC, vol. 48, no. 20, (Elsevier, 2015), pp. 303–308

    Google Scholar 

  4. D. Winter, A. Patla, J. Frank, S. Walt, Biomechanical walking pattern changes in the fit and healthy elderly. Phys. Ther. 70(6), 340–347 (1990)

    Google Scholar 

Download references

Acknowledgments

This work was funded in part by the National Science Foundation, and the University of Pittsburgh’s Competitive Medical Research Fund and Central Research Development Fund.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Nitin Sharma .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and Permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Alibeji, N.A., Kirsch, N.A., Sharma, N. (2017). Preliminary Experiments of an Adaptive Low-Dimensional Control for a Hybrid Neuroprosthesis. In: Ibáñez, J., González-Vargas, J., Azorín, J., Akay, M., Pons, J. (eds) Converging Clinical and Engineering Research on Neurorehabilitation II. Biosystems & Biorobotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-319-46669-9_114

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-46669-9_114

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-46668-2

  • Online ISBN: 978-3-319-46669-9

  • eBook Packages: EngineeringEngineering (R0)