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Feedback Control of a High Level Upper Extremity Neuroprosthesis

Blana, Dimitra
http://rave.ohiolink.edu/etdc/view?acc_num=case1206994969

Abstract Details

2008, Doctor of Philosophy, Case Western Reserve University, Biomedical Engineering.
The main focus of this study is controller design using a model-based approach, and implementation in a high level upper extremity neuroprosthesis. This is a system that aims to restore upper limb motor function to individuals who have suffered a spinal cord injury at the highest cervical level (C1-C4), and thus have lost voluntary control of most of the shoulder and arm muscles. To determine the optimal electrode set for this system, given the limited number of available stimulating channels, a musculoskeletal model of the upper extremity was used to run a large number of simulations and evaluate all the candidate electrode sets. The model was customized to represent a tetraplegic subject with an FES system, and the optimal electrode set was the one that allowed the model to successfully perform the largest number of movements. Subsequently, a combined feedforward-feedback controller approach was developed and tested first in a simplified arm model with six muscles and two degrees of freedom. In spite of its small scale, the model included an accurate muscle model, redundancy in the number of muscles, and kinematic coupling. It demonstrated the excellent trajectory tracking performance of the controller, even in the presence of considerable muscle fatigue and external forces. Next, the same design, augmented by a controller for shoulder stability was tested in a large-scale arm model with 22 muscles and five degrees of freedom, including a complete glenohumeral joint. In addition to its tracking ability, this controller was able to ensure shoulder stability in all cases of external disturbances. Finally, the controller was implemented in one subject with high level tetraplegia, and an adaptation method was developed to adjust the controller parameters according to the characteristics of the specific individual. In order to handle the redundancy of the upper limb, adaptation was performed using co-contraction of antagonistic muscles, and activation patterns among shoulder stabilizing and moving muscles. When tested in the shoulder and elbow of the subject, the controller achieved adaptation and allowed the execution of the desired movements.
Robert Kirsch (Committee Chair)
Patrick Crago (Committee Member)
Antonie van den Bogert (Committee Member)
Musa Audu (Committee Member)
Wyatt Newman (Committee Member)
151 p.
Biomedical Research; Rehabilitation
biomechanics; functional electrical stimulation; musculoskeletal modeling; feedback control

Recommended Citations

Citations

  • Blana, D. (2008). Feedback Control of a High Level Upper Extremity Neuroprosthesis [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1206994969

    APA Style (7th edition)

  • Blana, Dimitra. Feedback Control of a High Level Upper Extremity Neuroprosthesis. 2008. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1206994969.

    MLA Style (8th edition)

  • Blana, Dimitra. "Feedback Control of a High Level Upper Extremity Neuroprosthesis." Doctoral dissertation, Case Western Reserve University, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1206994969

    Chicago Manual of Style (17th edition)

case1206994969
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© 2008, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.