Fusing Electrical Stimulation and Wearable Robots with Humans to Restore and Enhance Mobility

Schauer, Thomas; Fosch‐Villaronga, Eduard; Moreno, Juan C.

doi:10.1002/9781119857433.ch13

Cited by 1 publication

(2 citation statements)

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“…Conversely, robotic devices can promote high-intensive repetitive training with a high trajectory accuracy, but available devices are bulky, heavy, and require high power [5]. Recently, hybrid rehabilitation systems including a combined action of FES and motorized robots have been proposed to take full advantage of both concepts [6]. As compared to FES alone, hybrid systems offer supplementary torque support, ensuring precise movements while preventing early muscle fatigue.…”

Section: Introductionmentioning

confidence: 99%

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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.

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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.

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Section: Introductionmentioning

confidence: 99%

“…While some attempts of hybrid cooperative systems for lower limb restoration have been proposed [6], [8], little effort has been devoted so far to upper limb movements due to the complexity of arm gestures [9]. Indeed, gait rehabilitation permits the exploitation of cyclical movements, involving few degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%