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- W4377087591 abstract "<p>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. </p>" @default.
- W4377087591 created "2023-05-20" @default.
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- W4377087591 date "2023-05-19" @default.
- W4377087591 modified "2023-10-16" @default.
- W4377087591 title "Data-driven Dynamic Motion Planning for Practical FES-Controlled Reaching Motions in Spinal Cord Injury" @default.
- W4377087591 doi "https://doi.org/10.36227/techrxiv.21430659.v2" @default.
- W4377087591 hasPublicationYear "2023" @default.
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