Control of a Multiple Degree-of-Freedom Arm With Functional Electrical Stimulation Using a Reduced Set of Command Inputs

Control of a Multiple Degree-of-Freedom Arm With Functional Electrical Stimulation Using a Reduced Set of Command Inputs

Bibliographic Details
Main Author: Cornwell, Andrew Stevens
Language:English
Published: Case Western Reserve University School of Graduate Studies / OhioLINK 2012
Subjects:
Biomedical Engineering
FES
rehabilitation
Funtional Electrical Stimulation
Principal Components Analysis
Movement Primitives
Online Access:http://rave.ohiolink.edu/etdc/view?acc_num=case1323277405
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spelling ndltd-OhioLink-oai-etd.ohiolink.edu-case13232774052021-08-03T05:34:26Z Control of a Multiple Degree-of-Freedom Arm With Functional Electrical Stimulation Using a Reduced Set of Command Inputs Cornwell, Andrew Stevens Biomedical Engineering FES rehabilitation Funtional Electrical Stimulation Principal Components Analysis Movement Primitives <p>Although no treatment or cure for spinal cord injury (SCI) currently exists, there are rehabilitative technologies that provide increased levels of independence. Because the injury to the spinal cord largely spares damage to the peripheral nervous system and muscles, it is often possible to electrically stimulate paralyzed peripheral nerves and artificially initiate the original function of those nerves. This technique is called Functional Electrical Stimulation (FES), and it can be used to restore motor function by stimulating the motor nerves. If the nerves are stimulated in carefully orchestrated patterns, it is possible to restore functional movements.</p><p>An advanced neuroprosthesis is under development in our laboratory to restore arm function to individuals with high-cervical level SCI, where users have complete paralysis of the entire arm. This system will use several novel techniques to overcome the inherent difficulties of providing a complete system to a user with no control of his arms or hands. For example, a new command source will be used because the retained functions available for delivering commands are very limited. Promising options include face and neck EMG signals, or signals recorded from the brain. Currently, these command sources are capable of robustly producing two or three continuous commands. However, to position the arm and hand in space requires specifying the position of each joint in the arm, which implies at least seven mechanical degrees of freedom.</p><p>The goal of this project is to develop a “command map,” the mathematical relationship that extracts the user’s intent from the available command source, and maps this information to arm joint angles so the FES controller can determine appropriate levels of stimulation for executing the intended movement. We obtained this command map by using the Principal Components Analysis (PCA) of able-bodied individuals performing a carefully selected set of daily living tasks. This work details the importance and selection of those daily living tasks, identifies high levels of repeatable correlation in joint angles during everyday movements, and then demonstrates the controllability of a virtual arm by able-bodied users using the PCA-based command map.</p> 2012-01-30 English text Case Western Reserve University School of Graduate Studies / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=case1323277405 http://rave.ohiolink.edu/etdc/view?acc_num=case1323277405 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection NDLTD
language English
sources NDLTD
topic Biomedical Engineering
FES
rehabilitation
Funtional Electrical Stimulation
Principal Components Analysis
Movement Primitives
spellingShingle Biomedical Engineering
FES
rehabilitation
Funtional Electrical Stimulation
Principal Components Analysis
Movement Primitives
Cornwell, Andrew Stevens
Control of a Multiple Degree-of-Freedom Arm With Functional Electrical Stimulation Using a Reduced Set of Command Inputs
author Cornwell, Andrew Stevens
author_facet Cornwell, Andrew Stevens
author_sort Cornwell, Andrew Stevens
title Control of a Multiple Degree-of-Freedom Arm With Functional Electrical Stimulation Using a Reduced Set of Command Inputs
title_short Control of a Multiple Degree-of-Freedom Arm With Functional Electrical Stimulation Using a Reduced Set of Command Inputs
title_full Control of a Multiple Degree-of-Freedom Arm With Functional Electrical Stimulation Using a Reduced Set of Command Inputs
title_fullStr Control of a Multiple Degree-of-Freedom Arm With Functional Electrical Stimulation Using a Reduced Set of Command Inputs
title_full_unstemmed Control of a Multiple Degree-of-Freedom Arm With Functional Electrical Stimulation Using a Reduced Set of Command Inputs
title_sort control of a multiple degree-of-freedom arm with functional electrical stimulation using a reduced set of command inputs
publisher Case Western Reserve University School of Graduate Studies / OhioLINK
publishDate 2012
url http://rave.ohiolink.edu/etdc/view?acc_num=case1323277405
work_keys_str_mv AT cornwellandrewstevens controlofamultipledegreeoffreedomarmwithfunctionalelectricalstimulationusingareducedsetofcommandinputs
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