IEEE Trans Neural Syst Rehabil Eng. 2018 Oct;26(10):2044-2052. doi: 10.1109/TNSRE.2018.2866226. Epub 2018 Aug 20.
Functional electrical stimulation (FES) is a promising solution for restoring functional motion to individuals with paralysis, but the potential for achieving any desired full-arm reaching motion has not been realized. We present a combined feedforward-feedback controller capable of automatically calculating and applying the necessary muscle stimulations to hold the wrist of an individual with high tetraplegia in a desired static position. We used the controller to hold a complete arm configuration to maintain a series of static wrist positions. The average distance to the target wrist position, or accuracy, was 2.9 cm. The precision is defined as the radius of the 95% confidence ellipsoid for the final positions of a set of trials with the same muscle stimulations and starting position. The average precision was 3.7 cm. The control architecture used in this study to hold static positions has the potential to control arbitrary reaching motions.
功能性电刺激 (FES) 是一种有前途的解决方案，可以恢复瘫痪患者的功能性运动，但尚未实现实现任何期望的全臂运动的潜力。我们提出了一种组合前馈 - 反馈控制器，能够自动计算并施加必要的肌肉刺激，以将患有高四肢瘫痪的个体的手腕保持在所需的静态位置。我们使用该控制器保持完整的手臂配置以维持一系列静态手腕位置。到达目标手腕位置的平均距离，或准确性为 2.9 厘米。精度定义为一组具有相同肌肉刺激和起始位置的试验的最终位置的 95%置信椭圆的半径。平均精度为 3.7 厘米。用于保持静态位置的这项研究中使用的控制架构有可能控制任意的到达运动。
