Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation

Hossein Kavianirad, Moein Forouhar, Hamid Sadeghian, Satoshi Endo, Sami Haddadin, Sandra Hirche

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Hybrid exoskeleton, comprising an exoskeleton interfaced with functional electrical stimulation (FES) technique, is conceptualized to complement the weakness of each other in automated neuro-rehabilitation of sensory-motor deficits. The externally actuating exoskeleton cannot directly influence neurophysiology of the patients, while FES is difficult to use in functional or goal-oriented tasks. The latter challenge is largely inherited from the fact that the dynamics of the muscular response to FES is complex, and it is highly user- and state-dependent. Due to the retardation of the muscular contraction response to the FES profile, furthermore, a commonly used model-free control scheme, such as PID control, suffers performance. The challenge in FES control is exacerbated especially in the presence of the actuation redundancy between the volitional activity of the user, powered exoskeleton, and FES-induced muscle contractions. This study therefore presents trajectory tracking performance of the hybrid exoskeleton in a novel model-based hybrid exoskeleton scheme which entices user-specific FES model-predictive control.

Original languageEnglish
Title of host publication2023 International Conference on Rehabilitation Robotics, ICORR 2023
PublisherIEEE Computer Society
ISBN (Electronic)9798350342758
DOIs
StatePublished - 2023
Event2023 International Conference on Rehabilitation Robotics, ICORR 2023 - Singapore, Singapore
Duration: 24 Sep 202328 Sep 2023

Publication series

NameIEEE International Conference on Rehabilitation Robotics
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Conference

Conference2023 International Conference on Rehabilitation Robotics, ICORR 2023
Country/TerritorySingapore
CitySingapore
Period24/09/2328/09/23

Keywords

  • cooperative control
  • functional electrical stimulation
  • Hybrid exoskeleton
  • impedance control
  • rehabilitation

Fingerprint

Dive into the research topics of 'Model-Based Shared Control of a Hybrid FES-Exoskeleton: An Application in Participant-Specific Robotic Rehabilitation'. Together they form a unique fingerprint.

Cite this