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Data-driven Dynamic Motion Planning for Practical FES-Controlled Reaching Motions in Spinal Cord Injury

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posted on 2023-05-19, 20:25 authored by Derek WolfDerek Wolf, Antonie J. (Ton) van den Bogert, Eric M. Schearer

Functional electrical stimulation (FES) is a promising technology for restoring reaching motions to individuals with upper-limb paralysis caused by a spinal cord injury (SCI). However, the limited muscle capabilities of an individual with SCI have made achieving FES-driven reaching difficult. We developed a novel trajectory optimization method that used experimentally measured muscle capability data to find feasible reaching trajectories. In a simulation based on a real-life individual with SCI, we compared our method to attempting to follow naive direct-totarget paths. We tested our trajctory planner with three control structures that are commonly used in applied FES: feedback, feedforward-feedback, and model predictive control. Overall, trajectory optimization improved the ability to reach targets and improved the accuracy for the feedforward-feedback and model predictive controllers (p < 0.001). The trajectory optimization method should be practically implemented to improve the FES-driven reaching performance. 


Email Address of Submitting Author

Submitting Author's Institution

Vanderbilt University

Submitting Author's Country

  • United States of America

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