Block-based robust control of stepping using intraspinal microstimulation

Journal of Neural Engineering
Ehsan Rouhani, Abbas Erfanian

Abstract

The problem of motor control using intraspinal microstimulation (ISMS) can be approached at two levels of the motor system: individual muscles (motor pools) and motor primitives. The major challenges of direct ISMS at the level of individual muscle are the number of electrodes that are required to be implanted in order to recruit all muscles involving the motion and muscle selectivity. One solution to cope with these problems is the control of movement generated by appropriate combination of the movement primitives. In this paper, we proposed a robust control framework using primitives for fully automatic block-based control of the motion through ISMS. The control framework is based on an adaptive fuzzy terminal sliding mode control. The biggest advantage of the controller is the fast convergence compared to the conventional sliding mode control. The experiments were conducted on spinally-intact anesthetized cats. Based on electromyography activity of the hindlimbs muscles, different movement blocks were defined. The results of block-based air-stepping control show that the proposed control framework could generate the gait cycle with good tracking performance. The averages of tracking error, over five cats, were 9.3%, 11.2%, a...Continue Reading

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Citations

Feb 23, 2019·Journal of Neural Engineering·Amirali ToossiVivian K Mushahwar

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