Abstract
Hybrid neuroprostheses that use both electric motor drives and functional electrical stimulation for the restoration of walking in persons with paraplegia have a promising potential. However, the hybrid actuation structure introduces effector redundancy, making the system complex and difficult to control. In this paper, preliminary experimental results of a recently developed low-dimensional controller, which is inspired from the muscle synergy principle, are presented. The experiments were performed on an able-bodied subject in a configuration where only one leg is actuated in a cycling manner while the contralateral leg was fixed.
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Acknowledgments
This work was funded in part by the National Science Foundation, and the University of Pittsburgh’s Competitive Medical Research Fund and Central Research Development Fund.
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Alibeji, N.A., Kirsch, N.A., Sharma, N. (2017). Preliminary Experiments of an Adaptive Low-Dimensional Control for a Hybrid Neuroprosthesis. In: Ibáñez, J., González-Vargas, J., Azorín, J., Akay, M., Pons, J. (eds) Converging Clinical and Engineering Research on Neurorehabilitation II. Biosystems & Biorobotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-319-46669-9_114
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DOI: https://doi.org/10.1007/978-3-319-46669-9_114
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