Wolf Derek N, Schearer Eric M
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:1153-1158. doi: 10.1109/ICORR.2019.8779381.
Individuals with paralyzed limbs due to spinal cord injuries lack the ability to perform the reaching motions necessary to every day life. Functional electrical stimulation (FES) is a promising technology for restoring reaching movements to these individuals by reanimating their paralyzed muscles. We have proposed using a quasi-static model-based control strategy to achieve reaching controlled by FES. This method uses a series of static positions to connect the starting wrist position to the goal. As a first step to implementing this controller, we have completed a simulated study using a MATLAB based dynamic model of the arm in order to determine the suitable parameters for the quasi-static controller. The selected distance between static positions in the path was 6 cm, and the amount of time between switching target positions was 1.3 s. The final controller can complete reaches of over 30 cm with a median accuracy of 6.8 cm.
因脊髓损伤而肢体瘫痪的个体缺乏进行日常生活所需的伸展动作的能力。功能性电刺激（FES）是一项很有前景的技术，可通过激活其瘫痪肌肉来恢复这些个体的伸展运动。我们提出使用基于准静态模型的控制策略来实现由FES控制的伸展动作。该方法使用一系列静态位置将起始手腕位置连接到目标位置。作为实现该控制器的第一步，我们使用基于MATLAB的手臂动态模型完成了一项模拟研究，以确定准静态控制器的合适参数。路径中静态位置之间的选定距离为6厘米，切换目标位置之间的时间量为1.3秒。最终控制器能够完成超过30厘米的伸展动作，中位精度为6.8厘米。
