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

Sierotowicz, Marek und 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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Offizielle URL: https://onlinelibrary.wiley.com/doi/epdf/10.1111/aor.14408

Kurzfassung

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.

elib-URL des Eintrags:https://elib.dlr.de/192929/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:A surface neuromuscular electrical stimulation device for universal cartesian force control in humans
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Sierotowicz, MarekMarek.Sierotowicz (at) dlr.dehttps://orcid.org/0000-0001-8040-6438NICHT SPEZIFIZIERT
Castellini, ClaudioClaudio.Castellini (at) dlr.dehttps://orcid.org/0000-0002-7346-2180NICHT SPEZIFIZIERT
Datum:29 Oktober 2022
Erschienen in:JOURNAL OF ARTIFICIAL ORGANS
Referierte Publikation:Ja
Open Access:Ja
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Ja
Band:46
DOI:10.1111/aor.14408
Seitenbereich:e323-e327
Verlag:John Wiley & Sons, Ltd
ISSN:1525-1594
Status:veröffentlicht
Stichwörter:NMES, FES, surface electrodes, Cartesian control, wearable, validation
Veranstaltungstitel:Rehabweek 2022 - International Functional Electrical Stimulation Society Annual Conference, IFESS 2022
Veranstaltungsort:Rotterdam, Niederlande
Veranstaltungsart:internationale Konferenz
Veranstaltungsbeginn:25 Juli 2022
Veranstaltungsende:29 Juli 2022
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Robotik
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R RO - Robotik
DLR - Teilgebiet (Projekt, Vorhaben):R - Terrestrische Assistenz-Robotik
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013)
Hinterlegt von: Sierotowicz, Marek
Hinterlegt am:09 Jan 2023 17:18
Letzte Änderung:24 Apr 2024 20:54

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