Adaptive Cooperative Control for Hybrid FES-Robotic Upper Limb Devices: a Simulation Study

Bardi, Elena; Gasperina, Stefano Dalla; Pedrocchi, Alessandra; Ambrosini, Emilia

doi:10.1109/embc46164.2021.9630331

Cited by 10 publications

(6 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The participants performed these conditions in a random order. In each condition, the participant tracked a sinusoidal reference trajectory, θ d , on a computer display, generated as (10);…”

Section: Experimental Designmentioning

confidence: 99%

Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation

Kavianirad,

Forouhar,

Sadeghian

et al. 2023

2023 International Conference on Rehabilitation Robotics (ICORR)

View full text Add to dashboard Cite

Hybrid exoskeleton, comprising an exoskeleton interfaced with functional electrical stimulation (FES) technique, is conceptualized to complement the weakness of each other in automated neuro-rehabilitation of sensory-motor deficits. The externally actuating exoskeleton cannot directly influence neurophysiology of the patients, while FES is difficult to use in functional or goal-oriented tasks. The latter challenge is largely inherited from the fact that the dynamics of the muscular response to FES is complex, and it is highly user-and statedependent. Due to the retardation of the muscular contraction response to the FES profile, furthermore, a commonly used model-free control scheme, such as PID control, suffers performance. The challenge in FES control is exacerbated especially in the presence of the actuation redundancy between the volitional activity of the user, powered exoskeleton, and FES-induced muscle contractions. This study therefore presents trajectory tracking performance of the hybrid exoskeleton in a novel model-based hybrid exoskeleton scheme which entices userspecific FES model-predictive control.

show abstract

Section: Experimental Designmentioning

confidence: 99%

Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation

Kavianirad,

Forouhar,

Sadeghian

et al. 2023

2023 International Conference on Rehabilitation Robotics (ICORR)

View full text Add to dashboard Cite

show abstract

“…In the latest years, some first examples of cooperative control have been proposed for single-joint upper limb hybrid systems. In 2021, Bardi and colleagues [20] proposed a cooperative control for elbow flexion that combines a closed-loop torque-based FES control with an impedance-based control strategy to adjust the motor assistance and tested its performance in simulation. In 2022, Burchielli et al designed and experimentally tested on healthy subjects a hybrid cooperative controller involving FES and an arm exosuit to support elbow flexion, showing the possibility of delaying the onset of FESinduced muscle fatigue but they did not evaluate the possibility of reducing motor power consumption [21].…”

Section: Introductionmentioning

confidence: 99%

Hybrid Cooperative Control of Functional Electrical Stimulation and Robot Assistance for Upper Extremity Rehabilitation

Dalla Gasperina,

Ferrari,

Gandolla

et al. 2024

IEEE Trans. Biomed. Eng.

View full text Add to dashboard Cite

Hybrid systems that integrate Functional Electrical Stimulation (FES) and robotic assistance have been proposed in neurorehabilitation to enhance therapeutic benefits. This study focuses on designing a cooperative controller capable of distributing the required torque for movement between robotic actuation and FES, thereby eliminating the need for time-consuming calibration procedures.Methods: The control schema comprises three main blocks: a motion generation block that defines the desired trajectory, a motor control block including both a weight compensation feedforward and a feedback impedance controller, and an FES control block, based on trial-by-trial Iterative Learning Control (ILC), that adjusts the stimulation intensity according to a predefined stimulation waveform. The feedforward motor assistance can be dynamically regulated using an allocation factor. Experiments involving 12 healthy volunteers were conducted using a one-degree-of-freedom elbow testbed.Results: The experimental results showcased the successful integration of Functional Electrical Stimulation (FES) with robotic actuation, ensuring precise trajectory tracking with a Root Mean Square Error (RMSE) below 7°. Notably, allocating more torque to FES led to a 51% reduction in motor torque. In conditions where FES operated alone, there was poorer tracking performance with an RMSE of 24°and an early onset of muscle fatigue, as evidenced by a reduced number of achieved repetitions. Furthermore, the hybrid approach enabled 100 fatigue-free elbow flexion repetitions, underscoring the effectiveness of cooperative FES-motor control in extending the benefits of FES-induced exercises.Significance: This study highlights the importance of a flexible approach that can be extended to a multi-degree-of-freedom hybrid system. Furthermore, it underscores the significance of employing a straightforward and adaptable methodology supported by a rapid calibration process, making it easily transferable to clinical applications.

show abstract

“…For upper limb motions with coupled degrees of freedom, such as shoulder, elbow, and wrist movements, these existing control strategies pit FES against a robot-imposed locked-joint, gravity, or single-joint motion constraint, essentially wasting the free actuation from FES and transferring it to the robot. Recently, single-joint hybrid systems that do share actuation on the same joint have been explored, but research has been limited, testing only in the elbow flexion extension joint with biceps electrodes in a minimum jerk trajectory (Wolf et al, 2017 ; Burchielli et al, 2022 ), or in simulation (Bardi et al, 2021 ).…”

Section: Introductionmentioning

confidence: 99%

Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements

et al. 2023

View full text Add to dashboard Cite

IntroductionIndividuals who have suffered a cervical spinal cord injury prioritize the recovery of upper limb function for completing activities of daily living. Hybrid FES-exoskeleton systems have the potential to assist this population by providing a portable, powered, and wearable device; however, realization of this combination of technologies has been challenging. In particular, it has been difficult to show generalizability across motions, and to define optimal distribution of actuation, given the complex nature of the combined dynamic system.MethodsIn this paper, we present a hybrid controller using a model predictive control (MPC) formulation that combines the actuation of both an exoskeleton and an FES system. The MPC cost function is designed to distribute actuation on a single degree of freedom to favor FES control effort, reducing exoskeleton power consumption, while ensuring smooth movements along different trajectories. Our controller was tested with nine able-bodied participants using FES surface stimulation paired with an upper limb powered exoskeleton. The hybrid controller was compared to an exoskeleton alone controller, and we measured trajectory error and torque while moving the participant through two elbow flexion/extension trajectories, and separately through two wrist flexion/extension trajectories.ResultsThe MPC-based hybrid controller showed a reduction in sum of squared torques by an average of 48.7 and 57.9% on the elbow flexion/extension and wrist flexion/extension joints respectively, with only small differences in tracking accuracy compared to the exoskeleton alone.DiscussionTo realize practical implementation of hybrid FES-exoskeleton systems, the control strategy requires translation to multi-DOF movements, achieving more consistent improvement across participants, and balancing control to more fully leverage the muscles' capabilities.

show abstract

Adaptive Cooperative Control for Hybrid FES-Robotic Upper Limb Devices: a Simulation Study

Cited by 10 publications

References 14 publications

Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation

Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation

Hybrid Cooperative Control of Functional Electrical Stimulation and Robot Assistance for Upper Extremity Rehabilitation

Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements

Contact Info

Product

Resources

About