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A surface neuromuscular electrical stimulation device for universal cartesian force control in humans

Sierotowicz, Marek and Castellini, Claudio (2022) A surface neuromuscular electrical stimulation device for universal cartesian force control in humans. In: JOURNAL OF ARTIFICIAL ORGANS, 46 (11), e323-e327. John Wiley & Sons, Ltd. Rehabweek 2022 - International Functional Electrical Stimulation Society Annual Conference, IFESS 2022, 2022-07-25 - 2022-07-29, Rotterdam, Niederlande. doi: 10.1111/aor.14408. ISSN 1525-1594.

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Official URL: https://onlinelibrary.wiley.com/doi/epdf/10.1111/aor.14408

Abstract

In recent years, neuromuscular electrical stim-ulation (NMES) has found many applications both within the medical field and outside. While this technology has been widely recognized as a valid tool for rehabilitative and assistive applications, most solutions presented in the literature seem to focus on highly specific cases and facili-tate very selective movements. In this article, we present a novel surface stimulation- based prototype which, cou-pled with an internally designed musculoskeletal model, allows to induce the output of generalized forces at the human end- effector in Cartesian coordinates. The control has been validated here through a 6- axis force- torque sen-sor coupled with a robotic manipulator. Thus, the meas-ured forces at the user's end- effector were compared to the commanded forces. The results confirm that open- loop control of the output force is possible with an average cor-relation coefficient between commanded and measured force output direction >0.7. This could eventually provide full, general- purpose impedance control of the human neuromuscular system, which would allow to induce ar-bitrary movements in the peri- personal space.

Item URL in elib:https://elib.dlr.de/192929/
Document Type:Conference or Workshop Item (Speech)
Title:A surface neuromuscular electrical stimulation device for universal cartesian force control in humans
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sierotowicz, MarekUNSPECIFIEDhttps://orcid.org/0000-0001-8040-6438UNSPECIFIED
Castellini, ClaudioUNSPECIFIEDhttps://orcid.org/0000-0002-7346-2180UNSPECIFIED
Date:29 October 2022
Journal or Publication Title:JOURNAL OF ARTIFICIAL ORGANS
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Volume:46
DOI:10.1111/aor.14408
Page Range:e323-e327
Publisher:John Wiley & Sons, Ltd
ISSN:1525-1594
Status:Published
Keywords:NMES, FES, surface electrodes, Cartesian control, wearable, validation
Event Title:Rehabweek 2022 - International Functional Electrical Stimulation Society Annual Conference, IFESS 2022
Event Location:Rotterdam, Niederlande
Event Type:international Conference
Event Start Date:25 July 2022
Event End Date:29 July 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Terrestrial Assistance Robotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Sierotowicz, Marek
Deposited On:09 Jan 2023 17:18
Last Modified:24 Apr 2024 20:54

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