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This paper describes a new method for designing feedforward controllers for multiple-muscle, multiple-DOF, motor system neural prostheses. The design process is based on experimental measurement of the forward input/output properties of the neuromechanical system and numerical optimization of stimulation patterns to meet muscle coactivation criteria, thus resolving the muscle redundancy (i.e., overcontrol)...
Individuals with a C5/C6 spinal cord injury (SCI) have paralyzed elbow extensors, yet retain weak to strong voluntary control of elbow flexion and some shoulder movements. They lack elbow extension, which is critical during activities of daily living. This research focuses on development of a synergistic controller employing remaining voluntary elbow flexor and shoulder electromyography (EMG) to control...
Coactivation of electrically antagonistic muscles provides resistance to external disturbances and continuity of bidirectional activation. A closed-loop controller for simultaneous pulse-width (PW) and stimulus-period (SP) modulation during cocontraction of antagonists has been developed. This PW+SP controller consists of a modified proportional-plus-integral (PI) control law and an SP modulation...
A computer simulation of hand grasp control by force and position feedback has been implemented with a digital controller and a discrete-time muscle model. The simulated system consists of a stiffness controller, a pulse-width activation controller, a coactivation map, a flexor and an extensor muscle, and separate internal and external loads. The measured feedback quantities are the position and the...
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