Robot-Inspired Human Impedance Control Through Functional Electrical Stimulation

Abstract

Functional Electrical Stimulation is an effective tool to foster rehabilitation of neurological patients suffering from impaired motor functions. It can also serve as an assistive device to compensate for compromised motor functions in the chronic phase occurring after a disease or trauma. In all cases, the dominant paradigm in FES applications is that of aiding specialized, task-specific movements, such as reaching or grasping. Usually this is achieved by targeting specific muscle groups which are associated to the targeted motion by experts. A general purpose, FES-based control theory capable of enabling neurological patients to achieve a wide range of positional goals in their peri-personal space is still missing. In this paper, we present an early analysis of the performance achievable through a muscular impedance control loop employing FES to actuate force and movement. The control is evaluated in a test where the user's upper limb is moved by means of an exonerve to a series of target positions on a plane without providing visual feedback nor requiring volitional effort. The results allow to characterize the performance of such a setup over time and to assess how well can it generalize over different target positions in the user's peri-personal space. The current study population also allows to evaluate the effects of user's experience with FES systems on the overall performance during the test. The results indicate that the proposed control loop can generalize well over different arm poses.