Abstract
This study systematically explored the potential of applying feedback control of functional neuromuscular stimulation (FNS) for stabilizing various erect and leaning standing postures after spinal cord injury (SCI). Perturbations ranging from 2 to 6% body weight were applied to two subjects with motor complete thoracic level SCI who were proficient at standing with implanted multichannel neural stimulators to activate the ankle, knee, hip and trunk muscles. The subjects stood with four different postures: erect, forward, forward-right and forward-left. Repeatable and controlled perturbations were applied in the forward, backward, rightward and leftward directions by linear actuators pulling on ropes attached to the subjects via a belt worn just above the waist. Upper extremity (UE) forces exerted on a stationary walker were measured with load cells attached to the handles. A feedback controller based on center of pressure (CoP) varied the stimulation levels to the otherwise paralyzed muscles so as to resist the effects of the perturbations. The effect of the feedback controller was compared to the case where only open-loop baseline stimulation was applied. This was done in terms of: (a) maximum resultant UE force exerted by the subjects on the walker, (b) maximum resultant CoP overshoot and (c) CoP root-mean-square deviation (RMSD). Feedback control resulted in significant reductions in the mean values of the majority of outcome values compared to baseline open-loop stimulation. Maximum resultant UE force was reduced by as much as 50% in one of the postures for one of the subjects. RMSD and maximum CoPs were reduced by as much as 75 and 70%, respectively, with feedback control. These results indicate that feedback control can be used to reject destabilizing disturbances in individuals with SCI using FNS not only for erect postures but also for leaning postures typically adopted during reaching while attempting various activities of daily living.
Highlights
Neural prostheses employing functional neuromuscular stimulation (FNS) can restore erect standing to individuals with thoracic level, motor complete spinal cord injury (SCI)
We have designed and deployed a real-time feedback controller based on center of pressure for standing balance with FNS after SCI
The controller was tested in two individuals with thoracic level SCI who had been implanted with various FNS systems for standing and stepping
Summary
Neural prostheses employing functional neuromuscular stimulation (FNS) can restore erect standing to individuals with thoracic level, motor complete spinal cord injury (SCI) This is often achieved by maximally activating the hip, knee and trunk extensor muscles by exciting the intact peripheral motor nerves with small stimulating currents [10, 17, 18, 26]. The overall goal is to afford system users the ability to assume task-dependent forward and side leaning postures while simultaneously reducing the UE forces required to maintain balance and recover from perturbations Another implicit effect of leaning away from an erect posture is the movement of the center of pressure (CoP) toward the edge of the BoS which increases the potential of the system to be destabilized by internal or external disturbances [35]
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