Task-Based Methods for Evaluating Electrically Stimulated Antagonist Muscle Controllers

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Abstract

Single-joint motor neural prosthesis control algorithms were tested in a novel animal model. The model consisted of a human subject who provided joystick inputs to a controller. The controller output determined the stimulus activation levels of two antagonist muscles which manipulated the ankle joint of an intact, anesthetized cat. Using visual feedback, the subject manipulated the system to perform positioning tasks which simulated normal activity of an intact limb. Three controllers were evaluated, open-loop reciprocal control, P-D closed-loop reciprocal control, and open-loop cocontraction control. The results demonstrated that in the presence of visual feedback, open-loop cocontraction control compared favorably in performance to a P-D closed loop controller. This has a practical value for the implementation of clinical neural prostheses since it suggests that in some cases, feedback transducers may not be required for fine control.

Original languageEnglish (US)
Pages (from-to)309-321
Number of pages13
JournalIEEE Transactions on Biomedical Engineering
Volume36
Issue number3
DOIs
StatePublished - Mar 1989

Bibliographical note

Funding Information:
Manuscript received September 22, 1987; revised October 13, 1988. This work was supported by the Whitaker Health Sciences Fund and by Grant BRSG SO7 RR07047-18 of the BRSG Program, Division of Research Resources, NIH. The author is with the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139. IEEE Log Number 8825413.

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