Control of rhythmic locomotor-like activity through intraspinal microstimulation with high frequency resolution

Block-based robust control of stepping using intraspinal microstimulation

“…The highly nonlinear and timevarying property of the neuromusculoskeletal system, dayto-day variations, and system disturbances limit the utility of prespecified stimulation patterns and open-loop ISMS control systems. To deal with these fundamental limitations, a number of closed-loop control strategies for ISMS has been developed and reported in the literatures [10,11,23].…”

“…In previous work [23], we used a closed-loop control strategy based on the sliding mode for control of unilateral rhythmic movement in the hindlimb of rat models using single-electrode ISMS of motor primitives. Holinski et al used the sensory information recorded from the dorsal root ganglia to estimate tilt angle (angle between the hip-metatarsophalangeal joints segment and horizontal) for closed-loop control of unilateral stepping with a state-based closed-loop control framework [10].…”

A modular robust control framework for control of movement elicited by multi-electrode intraspinal microstimulation

“…Bilateral reciprocal lifting of the hindlimb was evoked by implanting two microelectrodes (one on each side) in the spinal cord. Asadi and Erfanian demonstrated that unilateral rhythmic movement in hindlimb can be generated using single-electrode ISMS [6].…”

“…When the estimated angle crossed a threshold within the activation window, a predefined single rule was triggered to transit from stance into the swing phase to reduce backward hyperextension using a predefined stimulation pattern. In the previous work, we examined the closed-loop control of motor primitives to generate the locomotor stepping by ISMS [8]. The grand challenge in resorting motor function at the level of module is that the specific control of each joint cannot be achieved.…”