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Evans, Nancy C. "Determination of the most effective stimulation parameters for functional electrical stimulation." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/20028.
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Stone, Barry A. "Control strategies for functional electrical stimulation induced cycling." Thesis, University of Glasgow, 2005. http://theses.gla.ac.uk/1533/.
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Functional Electrical Stimulation cycling ergometers and mobile cycling systems have been developed over a number of years to allow Spinal Cord Injured persons to exercise. Standard able bodied exercise tests are adapted and applied to paraplegic cyclists. A modified recumbent tricycle is instrumentated with an electric motor and sensors to measure cadence and the power produced by the cyclist at the crank. They are then integrated to a stimulator and a laptop computer. The tricycle is mounted on an indoor cycling trainer to provide a novel test bed for the implementation of exercise testing. Controllers are desired to control cadence and power during cycling. Identification of input-output data for the cadence-motor loop and the power-stimulation loop is undertaken. Three muscle groups are stimulated on a paraplegic subject to produce power. Models are identified of the power and cadence systems. Thereafter controllers are designed, via polynomial methods. The results show that the controllers are robust during cadence tracking, power tracking and for disturbance rejection. The controllers can be accurately applied to exercise testing protocols. The concept of VO2 control is induced. VO2 is the rate of oxygen uptake during exercise. VO2-power dynamics are identified and as before a model is fitted to the measured data. Controllers are designed and further modified, as the understanding of the VO2 dynamics is developed. This is through a series of tests to improve the accuracy of the control. The results illustrate that VO2 control is a novel and practical application. These findings develop the field of functional Electrical Stimulation Induced Cycling within the laboratory. However further work is required to develop this application outside laboratory conditions.
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Lane, Rodney. "Control of upper-limb functional neuromuscular electrical stimulation." Thesis, University of Southampton, 2016. https://eprints.soton.ac.uk/419062/.
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Functional electrical stimulation (FES) is the name given for the use of neuromuscular electrical stimulation to achieve patterns of induced movement which are of functional benefit to the user. System are available that use FES to aid persons who have suffered an insult to the motor control region of the brain and been left with movement impairment. The aim of this research was to investigate methods of providing an FES system that could have a beneficial effect in restoring arm function. The techniques for applying upper-limb stimulation are well established, however the methods of controlling it to provide functional use remain lacking. This is because upper-limb movement can be difficult to measure and quantify as the starting point for any movement may not be well defined. Moreover the movements needed to complete a useful function such as reaching and grasping requires the coordinated control of a number of muscle groups, and that relies on being able to track the position of the limb. Effective control of FES for the arm requires reliable feedback about the position and state of the limb. Electromyograms (EMG) are a measure of the very small electrical signals that are emitted whenever a muscle is ‘fired’ to move. EMG can be used to detect muscle activity and so can be a useful feedback control input. It does however have a number of drawbacks that this research sought to address by combining the method with external motion sensors. The intension had been to use the motion sensors to track the position of the limb and then use the EMG measurements to detect the wearer’s movements. FES could then be used to assist the wearer in making a desired movement. Initial studies were done to separately investigate the motion sensing and the EMG measurement components of the system. However before these could be combined a more interesting observation was made relating to bioimpedance. A study of bioimpedance measurements found a relationship between tissue impedance changes and muscle activity. Different methods for measuring bioimpedance where investigated and the results compared, before a practical technique for capturing measurements was developed and demonstrated. A new set of test equipment was made using these finding. Subsequent results using this equipment were able to demonstrate that bioimpedance measurement could be taken from a limb while FES was being used, and that these measurement could be used as a feedback signal to control the FES to maintain a target limb position. This work forms the basis of a novel approach to the control of FES that uses feedback from the user’s limb to determine the position of the limb in free space without need for additional sensors.
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Taylor, Paul Nicholas. "Functional electrical stimulation based training orthosis for hand function following stroke." Thesis, University of Southampton, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.418960.
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Kershaw, Robert Andrew. "Retrieved voluntary electromyogram signals for functional electrical stimulation control." Thesis, University of Bristol, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.295098.
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Vanoncini, Michele. "Improving sitting posture in paraplegia via functional electrical stimulation." Thesis, University of Reading, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.494804.
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This study is an experimental investigation on the application of Functional Electrical Stimulation (FES) to the trunk muscles in paraplegic subjects. The aim is to improve trunk balance during reaching/grasping activities, and to explore a potential use of FES for the prevention of pressure sores. The research comprises three parts: the development of a model of the human trunk, the synthesis of closed loop controllers for the stimulation, and the use of FES for pressure sore prevention. Biomechanical models of the trunk, available from previous studies, are not appropriate for the synthesis of FES controllers. They are difficult to identify due to the high number of prameters, and hence cannot be taken into account the daily variations of the muscle response to the stimulation. This study proposes a novel approach, based on a simple model, which can be identified prior to any stimulation session. The investigation on automatic control of FES aims at trunk stabilisation and rejection of disturbances. Two regulators are considered: a Proportional Integral Derivative (PID) and a Linear Quadratic Regulator (LQR). The results show that a development by trial and error of a PID controller is feasible, and hence should be considered in practical applications. The study also shows that the simple model previously developed and be employed in the synthesis of an LQR controller. Finally, the study considers the stimulation of the trunk extensors as a tool for pressure sore prevention. This is a novel FES application, potentially more practical than the stimulation of the gluteal or quadriceps muscles, proposed by other authors. The experimental study described in this thesis shows that the stimulation of the trunk extensors can be used to induce a periodic change of the pressure distribution on the buttocks, and hence can potentially be employed as a tool for prevention.
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Kirtley, C. "Control of functional electrical stimulation with extended physiological proprioception." Thesis, University of Strathclyde, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.292029.
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Hines, Anne Ewing. "Functional electrical stimulation for hand opening in spastic hemiplegia." Case Western Reserve University School of Graduate Studies / OhioLINK, 1994. http://rave.ohiolink.edu/etdc/view?acc_num=case1061393914.
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Al-Majed, Abdulhakeem A. "Promoting peripheral nerve regeneration, functional electrical stimulation and pharmacological approaches." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0009/NQ59560.pdf.
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Jaime, Ralf-Peter. "On the control of paraplegic standing using functional electrical stimulation." Thesis, University of Glasgow, 2002. http://theses.gla.ac.uk/1591/.
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This thesis is concerned with the restoration of upright standing after spinal cord injury (SCI) by the means of Functional Electrical Stimulation. In particular, the work presented in this thesis is concerned with unsupported standing, i.e. standing without any support by the arms for stabilisation. Firstly, the experimental apparatus and feedback control approach is described. Secondly, the experimental work is divided into three parts. The motivation, experimental setup and procedure as well as results and conclusions are given for each of them. The feasibility of the investigated approach was usually tested on a neurologically intact subject. The results were subsequently confirmed with a paraplegic subject. First the feasibility and fundamental limitations of unsupported standing were investigated. Assuming the subject as a single-link inverted pendulum, an improved fully dynamic control approach was employed in the first step, confirming existing results. Here, the voluntary influence by the central nervous system was minimised. However, it is naturally desirable to take advantage of the residual sensory-motor abilities of the paraplegic subject to ease the task of stabilising the body. Ankle stiffness control has been proposed in the literature to accomplish this task. Hitherto, ankle stiffness was provided by artificial actuators. In the second part we investigated the feasibility and limitations of ankle stiffness control by means of FES. The same single-link approach was employed as above. Ankle stiffness control by FES was used in the third part to enable paraplegic standing. Here, the subject was required to participate actively in the task of stable standing and, while doing so, behaving like a double-link inverted pendulum. It could be shown that FES-controlled ankle stiffness contributed crucially to the subject's ability to stand. The thesis concludes with propositions for future work.
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Rahal, Mouhamed. "Optimisation of nerve cuff recordings for functional electrical stimulation applications." Thesis, University College London (University of London), 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248136.
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Jaramillo, Cienfuegos Paola. "Closed Loop Control of Muscle Contraction using Functional Electrical Stimulation." Diss., Virginia Tech, 2016. http://hdl.handle.net/10919/78471.
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A promising approach to treat patients with vocal fold paralysis using electrical stimulation is investigated throughout this research work. Functional Electrical Stimulation works by stimulating the atrophied muscle or group of muscles directly by current when the transmission lines between the central nervous system are disrupted. This technique helps maintain muscle mass and promote blood flow in the absence of a functioning nervous system. The goal of this work is two-fold: develop control techniques for muscle contraction to optimize muscle stimulation and develop a small-scale electromagnetic system to provide stimulation to the laryngeal muscles for patients with vocal fold paralysis. These studies; therefore, focus on assessing a linear Proportional-Integral (PI) controller and two nonlinear controllers: Model Reference Adaptive Controller (MRAC) and an Adaptive Augmented PI (ADP-PI) system to identify the most appropriate controller providing effective stimulation of the muscle. Direct stimulation is applied to mouse skeletal muscle in vitro to test the controllers along with numerical simulations for validation of these experimental tests. The experiments included muscle contractions following four distinct trajectories: a step, sine, ramp, and square wave. Overall, the closed-loop controllers followed the stimulation trajectories set for all the simulated and tested muscles. When comparing the experimental outcomes of each controller, we concluded that the ADP-PI algorithm provided the best closed-loop performance for speed of convergence and disturbance rejection. Next, the focus of the research work was on the implementation of an electromagnetic system to generate appropriate currents of stimulation using the aforementioned controllers. For this study, Nickel-Titanium shape memory alloys were used to assess activation (contraction) through a two-coil system guided by the controllers. The application of the two-coil system demonstrated the effectiveness of the approach and a main effect was observed between the PI, MRAC, and ADP-PI controllers when following the trajectories. Lastly, a small scale two-coil system is developed for animal testing in the muscle-mass-spring setup. Experiments were successful in generating the appropriate stimulation controlled by the output-based algorithms for muscle contraction. Trials conducted for this study were compared to the muscle contractions observed in the first study. The controllers were able to provide appropriate stimulation to the muscle system to follow the set trajectories: a step, ramp, and sinusoidal input. More trials are required to draw statistical conclusions about the performance of each controller. Regardless, the small-scale two-coil system along with the applied controllers can be reconfigured to be an implantable system and tested for appropriate stimulation of the laryngeal muscles.Ph. D.
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Sha, Ning. "A surface electrode array-based system for functional electrical stimulation." Thesis, University of Salford, 2008. http://usir.salford.ac.uk/42964/.
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The goal of this thesis is to develop an electrode array-based functional electrical stimulation (FES) system for foot drop correction. The thesis reports a series of studies on the design and development of an electrode array, describes how these results informed the design of a practical array and demonstrates methods for using this array in combination with a multi-channel stimulator to appropriately steer the foot. In the first study a finite element model was used to predict the effects of electrode design on the spatial spread of stimulation selectivity in tissue underlying the cathode. The model suggested that the Imm thick hydrogel of 5000m or higher resistivity placed between the electrode array and skin can effectively maintain selectivity, when compared with the no hydrogel case. In recognition of the potential discomfort problems associated with array-based FES, two studies were carried out to investigate the effect of hydrogel properties on discomfort. Finite element modelling was used to predict the effect of hydrogel properties on current density distribution in the skin, a parameter associated with discomfort. Increasing hydrogel resistivity led to an increase in the homogeneity of current density distribution in relevant areas of the skin and a likely decrease in peak current density. A single-blinded randomised study of the effects of hydrogel resistivity on discomfort was also conducted in which the discomfort associated with stimulation through a low impedance electrode was compared with that experienced during stimulation with a high impedance electrode. The high impedance electrode allowed 9% more current to be passed for an equivalent sensation to that experienced with the low impedance electrode. A 28% decrease in discomfort with the use of the high impedance electrode was also reported. The results of the studies on electrode design informed the design of a practical electrode array, consisting of 64 small electrodes, each of which was independently controllable via a purpose-built stimulator. interfaced with the skin through a thin layer of high resistivity hydrogel. Groups of 2x2 adjacent actiYe electrodes were termed Virtual Electrodes (VEs). Two approaches were presented to find the best VE(s) based on foot response to stimulation. In the first approach foot responses during a slowly ramped increase in stimulus current to each of 49 YEs were measured to directly identify suitable VE(s) (slowly ramped stimulation). Secondly, foot responses to various short bursts of stimulation (twitch stimulation) were then used to predict the subsets containing the best VEe s) identified using the first method. 9 of the 10 subj ects required a single VE and one subj ect needed 2 YEs to steer the foot to the target orientation. It was identified that the lowest number of incorrectly identified YEs using twitch stimulation was found with a four pulse stimuli train at maximal current. As the comprehensive slowly ramped stimulation search is too slow to be used in clinical practice, a two stage process, based on an initial search using twitch stimulation, followed by a more focused ramped stimulation search, is suggested as a future approach. The work presented in the thesis was demonstrated on healthy seated subjects and hence further work is required to investigate its application for people with foot drop.
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Larsen, Sara E. 1977. "Quantitative comparison of functional MRI and electro-cortical stimulation for function mapping." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/28334.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, February 2004.Includes bibliographical references (p. 61-63).
Mappinlg functional areas of the brain is of vital importance for plallnning tumor resectiol. A accurate mapping provides information to leurosurgeons about which areas of the brain are eloquent, and should be avoided while removinlg the tumor. With the recent increase in the use of functional MRI for such pre-surgical planning, there is a nleed to validate that fMRI activation mrapping is consistent with the map)ppillg obtainled durinlg surgery with the standard technique, direct electro-cortical stimulationl. To this end, this thesis quanltitatively comlpares functionlal MRI lnapping with electro-cortical stimulation mapping.
by Sara E. Larsen.
S.M.
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Almashaikhi, Talal. "Electrical brain stimulation and human insular connectivity." Thesis, Lyon 1, 2013. http://www.theses.fr/2013LYO10174/document.
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Le cortex insulaire est le cinquième lobe du cerveau en charge de l'intégration de nombreuses fonctions cognitives, sous-tendues par une organisation cytoarchitectonique etune connectivité aussi riche que complexe. Ce travail vise à évaluer la connectivité fonctionnelle insulaire du cerveau humain par le biais de stimulation électrique intra-cérébrale et de potentiels évoqués cortico-corticaux (PECC) réalisés chez des patients explorés en stéréoélectroencéphalographie (SEEG) pour une épilepsie partielle réfractaire. Nous avons développé un protocole automatisé permettant destimuler successivement l’ensemble des bipoles d’enregistrement intracérébraux (deux plots contigus d’une même électrode) disponibles chez les patients explorés en SEEG. Deux sériesde 20 stimulations monophasiques d’une durée unitaire de 1 ms et d’une intentisté de 1 mA, étaient délivrés à une fréquence de 0,2 Hz au niveau de chaque bipole (105 en moyenne,produisant un total d’environ 11.000 PECC par patient). Un premier travail a consisté dans lamise au point d’une méthode fiable d’analyse statistique objective des PECC significatifs, encomplement de l’analyse visuelle, sur un échantillon de 33017 enregistrements chez trois patients. L’analyse a porté sur les quatre fenêtres temporelles post-stimulation suivantes: 10-100 ms, 100-300 ms, 300-500 ms, 500-1000 ms. La seconde partie de notre thèse a appliquéces méthodes à l’étude des connections intra-insulaires sur un échantillon de10 patients présentant au moins deux éléctrodes intra-insulaires. La dernière partie de notre travail s’est intéressé aux efférences insulaires sur un échantillon de 11 patients. L’étude des PECC apporte des éléments de connectivité fonctionnelle derésolution spatiale et temporelle inégalée, complémentaires de ceux découlant des techniquesde neuroimagerie. La gestion complexe du volume de données à gérer pour chaque patientpeut être résolu par des procédures d’analyse statistiques automatisée de sensibilité etspécificité satisfaisante. Le pattern des connections intra- et extra-insulaires révélé par cetteapproche permet une meilleure compréhension de la physiologie de l’insula chez l’Homme etdes modalités de propagations des décharges épileptiques impliquant ce lobeThe insular cortex is the fifth lobe of the brain and is in charge of the integration of many cognitive functions, underpinned by a rich cytoarchitectonic organization and a complex connectivity. Our work aims to evaluate the insular functional connectivity of the human brain using intracerebral electrical stimulation and recording of cortico-cortical evoked potentials (CCEPs) in patients investigated with stereoelectroencephalography (SEEG) for refractory partial epilepsy. We first developed an automated protocol to stimulate successively all intracerebral recorded bipoles (two contiguous leads of the same electrode) available in patients undergoing SEEG. Two sets of 20 monophasic stimulation of 1 ms duration and 1mA intensity were delivered at a frequency of 0.2 Hz at each bipole (105 on average, producing a total of about 11,000 recordings per patient). We then develop a reliable and objective statistical method to detect significant CCEPs as a complement to visual analysis, and validate this approach on a sample of 33017 recordings in three patients. The analysis was performed over four distinct post-stimulus epochs: 10-100 ms, 100-300 ms, 300-500 ms, 500-1000 ms. In the second part of our thesis, we applied these methods to the study of intrainsular connections on a sample of 10 patients with at least two intra-insular electrodes. The last part of our work used the same approach to investigate insular efferents in a sample of 11 patients. The study of CCEPs provides novel and important findings regarding the human brain functional connectivity, with unmatched spatial and temporal resolutions as compared to neuroimaging techniques. The complex management of large volume of data in each patient can be solved by automated statistical analysis procedures with satisfactory sensitivity and specificity. The pattern of connections within and outside the insula revealed by this approach provides a better understanding of the physiology of the Human insula as well as of the propagation of epileptic discharges involving this lobe
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McCaughey, Euan James. "Abdominal functional electrical stimulation to improve respiratory function in acute and sub-acute tetraplegia." Thesis, University of Glasgow, 2014. http://theses.gla.ac.uk/5471/.
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An injury to the cervical region of the spinal cord can cause paralysis affecting all four limbs, termed tetraplegia. People with tetraplegia also have paralysis or impaired function of the major respiratory muscles, namely the diaphragm and intercostal and abdominal muscles. This often reduces respiratory function, with associated respiratory complications a leading cause of morbidity and mortality for this population. Abdominal Functional Electrical Stimulation (AFES), the application of electrical pulses to the abdominal muscles causing them to contract, has been shown to improve respiratory function in tetraplegia. Despite these positive results, further work is needed to establish AFES as a standard clinical treatment. The aim of this thesis is to support the clinical introduction of AFES. This was achieved by addressing two primary objectives. Firstly, the development of new technologies and protocols to optimise AFES for use in a clinical setting. Secondly, the clinical evaluation of these technologies and protocols with tetraplegic patients. For research purposes, AFES has typically been applied manually, requiring an operator to synchronise stimulation with respiratory activity. One important step necessary for the clinical introduction of AFES is the development of an automated AFES device that can apply stimulation in synchrony with the users respiratory activity, with different stimulation parameters applied for different breath types such as a quiet breath and a cough. In this thesis, the signal from a non-intrusive respiratory effort belt, worn around the chest, was used to develop a statistical classifcation algorithm capable of classifying respiratory activity in real-time, and applying AFES in synchrony with the user's respiratory activity. The effectiveness of AFES can also be enhanced by stimulating at the abdominal muscle motor points. In this thesis the positions of the abdominal motor points were located systematically for the frst time, in ten able bodied and five tetraplegic participants. To aid the clinical introduction of AFES it is necessary to establish the patient groups who would benefit most from this intervention, and to develop appropriate clinical protocols. This is addressed in two clinical studies, where the feasibility and effectiveness of AFES to improve the respiratory function of the acute ventilator dependant and sub-acute tetraplegic populations was demonstrated. In the first study, conducted with 10 acute ventilator dependant tetraplegics, AFES was applied on alternate weeks for a total duration of eight weeks. This resulted in acute improvements in breathing and led to a longitudinal increase in respiratory function over the study duration. It was found that participants weaned from mechanical ventilation on average 11 days faster than matched historic controls. Previous work, which investigated the effect of a three week AFES training programme on the respiratory function of people with sub-acute tetraplegia, suggested that an extended AFES training programme may be more effective. In the second clinical study in this thesis, a continuous eight week AFES training protocol (combined with a six week control period) was evaluated with three sub-acute tetraplegic participants. The application of AFES led to an acute increase in respiratory function, with a longitudinal improvement in respiratory function observed throughout the study. In a single participant case study, the feasibility of combining AFES with assisted coughing delivered by mechanical insufflation-exsufflation was demonstrated for the first time. This was shown to lead to an acute improvement in respiratory function at six of the eight assessment sessions, indicating that this technique could be used to aid secretion removal. This thesis highlights the feasibility and effectiveness of AFES to improve the respiratory function of the acute ventilator dependant and sub-acute tetraplegic populations. The clinical protocols that enable AFES to be used with these patient groups, and the technological developments detailed throughout this thesis, are an important step towards the introduction of AFES as a regular treatment modality.
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Heygood, Erick Michael. "Multi-channel nerve electrodes for control of functional electrical stimulation systems." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/MQ61565.pdf.
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Heller, Benjamin Wolf. "The production and control of functional electrical stimulation swing-through gait." Thesis, University of Strathclyde, 1992. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21272.
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This thesis addresses some of the issues involved in the synthesis of swingthrough gait by functional electrical stimulation (FES). A general introduction is given to paraplegic gait, then the following areas are reviewed in detail: previous production of FES swing-through gait; biomechanical and energetics analyses of swing-through gait; general techniques for controlling FES gait; and the use of machine-learning techniques. Trained, non-impaired subjects wearing adjustable braces are used to model the movement patterns of FES swing-through gait. It is found that flexing the knees during the body-swing phase of swing-through gait reduces the energy cost of the gait. Hardware and software are developed to allow the production of FES swing-through gait in paraplegics with mid and low thoracic lesions of the spinal cord. The kinematic parameters of the resulting gait are assessed. It is found that the gait is faster than both knee-ankle-foot-orthosis (non FES) gait and reciprocal FES gait. This constitutes the first demonstration of FES free-knee swing-through gait in a spinal cord injured population. A symbolic inductive learning program, Empiric, is described. This program uses 'fuzzy' weighting to cope with uncertainty in the training data. This technique is found to offer improved classification performance (on artificially generated data) over both the orthodox (non-weighted) approach and an alternative weighting strategy. The fuzzy inductive learning technique is compared with a multi-layer perceptron type neural network for identifying the invariants (rules) that describe muscle activation during normal human gait. Both techniques are found to successfully model the muscular activation; the inductive learning technique has the advantage of producing explicit rules which are easily understood. The fuzzy inductive learning technique is applied to data obtained from the (previously mentioned) model of swing-through gait, in an attempt to mimic the control strategies used by the unimpaired subjects. It is found that the gait is best modelled with simple rule-sets, based on only one sensor. It is argued that this technique allows the automatic derivation of control strategies for FES gait: in particular, it allows the subjects' movement intentions to be determined. It is suggested that this 'intention detection' provides a more natural interface between a paraplegic subject and an FES control system than the techniques which are currently used.
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Khalili, Mohammad Amouzadeh. "Techniques including functional electrical stimulation for treatment of spastic limb contracture." Thesis, Glasgow Caledonian University, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.263378.
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Ramos, Felipe Moreira. "Rhythmic control for functional electrical stimulation applications using detailed musculoskeletal models." reponame:Repositório Institucional da UnB, 2017. http://repositorio.unb.br/handle/10482/31334.
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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES).
O objetivo principal deste trabalho é projetar novos controladores para exercícios rítmicos assistidos por FES, como ciclismo e remo. Este trabalho faz parte de um esforço de pesquisa mais amplo baseado na reabilitação de SCI com base em princípios de neuro-engenharia e robótica integrados com fisioterapia orientada. Uma estrutura básica para simulação de modelos musculoesqueléticos detalhados foi desenvolvida para acelerar a prototipagem de novas estratégias de controle. O controle básico possui um controlador de estado finito no nível superior e um controlador de nível inferior que calcula a intensidade da ativação dos músculos. Um controlador com primitivas de movimento com base na dinâmica de atratores foi desenvolvido para o exercício de remo e osciladores acoplados foram adicionados aos controladores para exercícios de remo e ciclismo. Além disso, algoritmos genéticos foram utilizados para estimar os parâmetros dos controladores, minimizar o nível geral da estimulação elétrica aplicada e aumentar a robustez em ambientes com configurações diferentes. No caso do exercício de ciclismo, os mesmos parâmetros foram utilizados em simulações com ruído, fadiga, diferentes cargas e escalas. Além da avaliação de desempenho, a eficiência do gasto energético metabólico dos modelos musculoesqueléticos também foi calculada como método alternativo para comparar diferentes aplicações FES. Os resultados demonstraram que a adição de osciladores acoplados aumentou a eficiência em ambos os exercícios. Além disso, o ciclismo assistido por FES parece ser mais adequado para participantes com deficiência motora que têm músculos fracos e baixa resistência devido à sua menor ativação muscular e ao gasto de energia metabólica. O remo assistido por FES pode ser usado depois para melhorar a potência dos músculos.
The main objective of this work concerns the design of new controllers for rhythmic exercises assisted by functional electrical stimulation (FES), such as cycling and rowing. This work is part of a broader research effort targeting spinal cord injury rehabilitation based on principles of neuro-engineering and robotics integrated with goal-directed physical therapy. We developed a basic framework for simulation of detailed musculoskeletal models to accelerate the prototyping of new control strategies. The basic control features a higher level finite state controller and a lower level controller which calculates the activation level of the muscles. A controller with motor primitives based on attractor dynamics was developed for the rowing exercise, and coupled oscillators were added to controllers of both cycling and rowing exercises. Furthermore, we used genetic algorithms to estimate the controllers parameters, minimize the overall level of applied electrical stimulation and increase the robustness in environments with different configurations. In the case of the cycling exercise, we used the same parameters in simulations with noise, fatigue, different loads, and scales. Besides the performance evaluation, we also calculated the efficiency of the metabolic energy expenditure of the musculoskeletal models as an alternative method to compare different FES applications. Results demonstrated that the addition of coupled oscillators increased the efficiency in both exercises. Also, FES cycling seems to be more suitable for participants with motor disabilities who have weak muscles and low endurance due to its lower muscle activation and metabolic energy expenditure. FES rowing can be used later for improving the power of the muscles.
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Sun, M. "A functional electrical stimulation (FES) control system for upper limb rehabilitation." Thesis, University of Salford, 2014. http://usir.salford.ac.uk/32854/.
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Functional electrical stimulation (FES) is the controlled use of electrical pulses to produce contraction of muscles in such a way as to support functional movement. FES is now widely used to aid walking in stroke patients and research into using FES to support other tasks is growing. However, in the more complex applications, it is very challenging to achieve satisfactory levels of FES control. The overall aim of the author’s PhD thesis is to develop improved techniques for real-time Finite State Machine (FSM) control of upper limb FES, using multiple accelerometers for tracking upper limb movement and triggering state transitions. Specific achievements include: 1) Development of new methods for using accelerometers to capture body segment angle during performance of an upper limb task and use of that data to trigger state transitions (angle triggering); 2) Development of new methods to improve the robustness of angle triggering; 3) Development of a flexible finite state-machine controller for control of upper limb FES in real time; 4) In collaboration with a clinical PhD student, implementation of a graphical user interface (GUI) that allows clinical users (e.g. physiotherapists) to set up FSM controllers for FES-assisted upper limb functional tasks. Three alternative methods that use 3-axis accelerometer data to track body segment angle with respect to gravity have been reported. The first uncalibrated method calculates the change in angle during a rotation using the gravity vectors before and after the rotation. The second uncalibrated method calculates the angle between the accelerometer x-axis and the gravity vector. The third calibrated method uses a calibration rotation to define the measurement plane and the positive rotation direction. This method then calculates the component of rotation that is in the same plane as the calibration rotation. All three methods use an algorithm that switches between using sine and cosine, depending on the measured angle, which overcomes the poor sensitivity problem seen in previous methods. xviii A number of methods can be included in the transition triggering algorithm to improve robustness and hence the usability of the system. The aim of such methods is to reduce the number of incorrect transition timings caused by signal noise, jerky arm movements and other negative effects, which lead to poor control of FES during reaching tasks. Those methods are: 1) Using the change in angle since entering a state rather than absolute angle; 2) Ignoring readings where the acceleration vector is significant in comparison to the gravity vector (i.e. the magnitude of the measured vector is significantly different from 9.81); and 3) Requiring a given number of consecutive or non-consecutive valid readings before triggering a transition. These have been implemented with the second uncalibrated angle tracking method and incorporated into a flexible FSM controller. The flexible FSM controller and the associated setup software are also presented in this thesis, for control of electrical stimulation to support upper limb functional task practice. In order to achieve varied functional task practice across a range of patients, the user should be able to set up a variety of different state machines, corresponding to different functional tasks, tailored to the individual patient. The goal of the work is to design a FSM controller and produce an interface that clinicians (even potentially patients) can use to design and set up their own task and patient-specific FSMs. The software has been implemented in the Matlab-Simulink environment, using the Hasomed RehaStim stimulator and Xsens MTx inertial sensors. The full system has been tested with stroke patients practicing a range of tasks in the laboratory environment, demonstrating the potential for further exploitation of the work.
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Sijobert, Benoît. "Assistive control of motion in sensorimotor impairments based on functional electrical stimulation." Thesis, Montpellier, 2018. http://www.theses.fr/2018MONTS079/document.
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Suite à une lésion (ex: blessure médullaire, accident vasculaire cérébral) ou une maladie neurodégénérative (ex: maladie de Parkinson), le système nerveux central humain peut être sujet à de multiples déficiences sensori-motrices menant à des handicaps plus ou moins lourds au cours du temps.Face aux méthodes thérapeutiques classiques, la stimulation électrique fonctionnelle (SEF) des muscles préservés permet de restaurer le mouvement et de fournir une assistance afin d’améliorer la condition des personnes atteintes et de faciliter leur réadaptation fonctionnelle.De nombreuses problématiques intrinsèques à la complexité du système musculo-squelettique et aux contraintes technologiques rendent néanmoins difficile la démocratisation de solutions de stimulation électro-fonctionnelle en dépit d’avancées majeures dans le domaine.Visant à favoriser l’utilisabilité et l’adaptabilité de telles solutions, cette thèse s’appuie sur un réseau de capteurs/actionneurs génériques embarqués sur le sujet, afin d’utiliser la connaissance issue de l’observation et l’analyse du mouvement pathologique des membres inférieurs pour étudier et valider expérimentalement de nouvelles solutions de commande de la SEF à travers une approche orientée-patientThe human central nervous system (CNS) can be subject to multiple dysfunctions. Potentially due to physical lesions (e.g.: spinal cord injuries, hemorrhagic or ischemic stroke) or to neurodegenerative disorders (e.g.: Parkinson’s disease), these deficiencies often result in major functional impairments throughout the years.As an alternative to usual therapeutic approaches, functional electrical stimulation (FES) of preserved muscles enables to assist individuals in executing functional movements in order to improve their daily life condition or to help enhancing rehabilitation process.Despite major technological advances in rehabilitation engineering, the complexity of the musculoskeletal system and the technological constraints associated have led to a very slow acceptance of neurorehabilitation technologies.To promote usability and adaptability, several approaches and algorithms were studied through this thesis and were experimentally validated in different clinical and pathological contexts, using low-cost wearable sensors combined to programmable stimulators to assess and control motion through a patient-centered approach
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Cole, Natalie Marie. "MUSCLE SYNERGY-BASED FUNCTIONAL ELECTRICAL STIMULATION FOR THE RESTORATION OF DEXTEROUS HAND FUNCTION AFTER PARALYSIS." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1586439928729014.
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Scheiner, Avram. "The design, development and implementation of electrodes used for functional electrical stimulation." Case Western Reserve University School of Graduate Studies / OhioLINK, 1992. http://rave.ohiolink.edu/etdc/view?acc_num=case1056388692.
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Yu, Chung-huang. "New method for restoring standing to paraplegics : control of leg muscle stimulation by the handle support reactions." Thesis, University College London (University of London), 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.367761.
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Sorinola, Isaac Olubunmi. "Physiological and functional changes after stroke and the effect of electrical stimulation." Thesis, King's College London (University of London), 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.566216.
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Rachev, Petar Zahariev. "Integrated system for electromechanical modeling and functional electrical stimulation of gastrointestinal organs." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp05/MQ65009.pdf.
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Schauer, Thomas. "Feedback control of cycling in spinal cord injury using functional electrical stimulation." Thesis, University of Glasgow, 2006. http://theses.gla.ac.uk/1524/.
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This thesis is concerned with the realisation of leg cycling by means of FES in SCI individuals with complete paraplegia. FES lower-limb cycling can be safely performed by paraplegics on static ergometers or recumbent tricycles. In this work, different FES cycling systems were developed for clinical and home use. Two design approaches have been followed. The first is based on the adaptation of commercially available recumbent tricycles. This results in devices which can be used as static trainers or for mobile cycling. The second design approach utilises a commercially available motorised ergometer which can be operated while sitting in a wheelchair. The developed FES cycling systems can be operated in isotonic (constant cycling resistance) or isokinetic mode (constant cadence) when used as static trainers. This represents a novelty compared to existing FES cycling systems. In order to realise isokinetic cycling, an electric motor is needed to assist or resist the cycling movement to maintain a constant cadence. Repetitive control technology is applied to the motor in this context to virtually eliminate disturbance caused by the FES activated musculature which are periodic with respect to the cadence. Furthermore, new methods for feedback control of the patient’s work rate have been introduced. A one year pilot study on FES cycling with paraplegic subjects has been carried out. Effective indoor cycling on a trainer setup could be achieved for long periods up to an hour, and mobile outdoor cycling was performed over useful distances. Power output of FES cycling was in the range of 15 to 20 W for two of the three subjects at the end of the pilot study. A muscle strengthening programme was carried out prior and concurrent to the FES cycling. Feedback control of FES assisted weight lifting exercises by quadriceps stimulation has been studied in this context.
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Postans, Neil John. "Correction of gait abnormalities in cerebral palsy children using functional electrical stimulation." Thesis, University of Strathclyde, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248852.
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Kutlu, Mustafa C. "A home-based functional electrical stimulation system for upper-limb stroke rehabilitation." Thesis, University of Southampton, 2017. https://eprints.soton.ac.uk/417274/.
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Due to an increased population of stroke patients and subsequent demand on health providers, there is an urgent need for effective stroke rehabilitation technology that can be used in patients' own homes. Over recent years, systems employing functional electrical stimulation (FES) have shown the ability to provide effective therapy. However, there is currently no low-cost therapeutic system available which simultaneously supplies FES to muscles in the patient's shoulder, arm and wrist to provide co-ordinated functional movement. This restricts the effectiveness of treatment, and hence the ability to support activities of daily living. In this thesis a home-based low cost rehabilitation system is developed which substantially extends the current state of art in terms of sensing and control methodologies. In particular, it embeds novel non-contact sensing approaches; the first use of an electrode array within a closed-loop model based control scheme; an interactive task display system; and an integrated learning-based controller for multiple muscles within the upper-limb (UL), which supports co-ordinated tasks. The thesis then focuses on compacting the prototype by upgrading the depth sensor and using embedded systems to transfer it to the home environment. Currently available home-based systems employing FES for UL rehabilitation are first reviewed in terms of their underlying technology, operation, scope and clinical evidence. Motivated by this, a detailed examination of a prototype system is carried out that combines low cost non-contact sensors with closed-loop FES controllers. Then potential avenues to extend the technology are highlighted, with specific focus given to low-cost non-contact based sensors for the hand and wrist. Sensing approaches are then reviewed and evaluated in terms of their scope to support the intended system requirements. Electrode array hardware is developed in order to provide accurate movement capability. Biomechanical models of the combined stimulated arm and mechanical support are then formulated. Using these, model-based iterative learning control methodologies are then designed and implemented. The system is evaluated with both unimpaired participants and stroke patients undergoing a course of treatment. Finally, a home-based prototype is developed which integrates and extends the aforementioned components. Results conrm the system's scope to provide more effective stroke rehabilitation. Based on the achieved results, courses of future work necessary to continue this development are outlined.
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Thomas, Philip S. "A Reinforcement Learning Controller for Functional Electrical Stimulation of a Human Arm." Case Western Reserve University School of Graduate Studies / OhioLINK, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=case1246922202.
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Bailes, Amy F. "Effects of Functional Electrical Stimulation Neuroprosthesis in Children with Hemiplegic Cerebral Palsy." University of Cincinnati / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1415615294.
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Pylypiv, Galina Yevgenivna. "Short Term Electrical Stimulation for Isograft Peripheral Nerve Repair and Functional Recovery." University of Akron / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=akron1520934076073459.
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Abdulla, Shwan Chatto. "Intelligent control for a novel assist mechanism in functional electrical stimulation cycling." Thesis, University of Sheffield, 2014. http://etheses.whiterose.ac.uk/6849/.
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Grimaldi, Giuliana. "Tremor: from pathogenesis to a multimodal brain-computer interface controlling functional electrical stimulation." Doctoral thesis, Universite Libre de Bruxelles, 2014. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/241294.
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Duffell, Lynsey Diane. "An investigation of functional electrical stimulation cycling for people with spinal cord injury." Thesis, King's College London (University of London), 2007. https://kclpure.kcl.ac.uk/portal/en/theses/an-investigation-of-functional-electrical-stimulation-cycling-for-people-with-spinal-cord-injury(4560dd1b-b718-4a0f-8589-1c0f44ba2815).html.
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Wolf, Derek N. "Achieving Practical Functional Electrical Stimulation-Driven Reaching Motions in an Individual with Tetraplegia." Cleveland State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1607604528725859.
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Uys, Nicole Ashleigh. "The effect of functional electrical stimulation on akinetic gait in patients with Parkinson's disease." Diss., Pretoria : [s.n.], 2008. http://upetd.up.ac.za/thesis/available/etd-06022009-193004.
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Hambly, Matthew J. "Assessment of volitional electromyography filtering methods for real-time control of electrical stimulation." Thesis, Griffith University, 2022. http://hdl.handle.net/10072/416299.
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Functional electrical stimulation (FES) is a technology-based rehabilitation technique widely used following a spinal cord injury (SCI), stroke and other neurological pathologies, whereby short pulses of electric current are delivered to target muscles, generating contraction and consequent movement. Feedback is employed in FES systems to control the stimulation level to produce optimal movement patterns, including assessing muscle activity through electromyography (EMG). However, exogenous stimulation pollutes recorded EMG, making it challenging to assess volitional muscle activity and hindering the development of real-time neural controllers for FES. The overarching goal of this research was to develop and evaluate an FES system controlled by the underlying volitional muscle activity. To achieve this goal, we assessed common methods to extract the volitional EMG, designed a system for real-time FES control, and evaluated the effects of the control system on upper-limb movement.
Multiple filtering methods for volitional EMG extraction have been previously proposed, however there is a lack of comprehensive evaluation and comparison between methods and, therefore, no consensus on which is the most effective to use. Here we compared the performance of the three most commonly used methods, high-pass, adaptive and comb filtering, by assessing the estimated volitional muscle activity across various conditions and performance measurements. The comb filter consistently provided the most accurate volitional EMG estimation across all conditions and performance outcomes, suggesting it is the most effective method for use in FES control systems.
Furthermore, when designing an electrical stimulation system, consideration should be taken on how easily it can be controlled by the individual and how it affects their movement. We designed and tested two real-time FES systems controlled by the underlying volitional muscle activity, using a trigger and a proportional control scheme. II Able-bodied individuals were able to successfully control the stimulation using the designed systems, without having significant effects on how they activated their muscles and how smoothly they could perform the motion, by assessing EMG and motion data, validating the use of the FES systems.
In conclusion, this work found, through comprehensive analyses, that comb filtering provided the best volitional muscle activity estimations during FES. The necessary EMG processing steps, including the comb filter, were successfully used to control the stimulation triggered by and proportional to the underlying volitional muscle activity in real-time. Both control systems could be used by able-bodied individuals without any negative effects on their ability to perform upper-limb movements. The designed software for this thesis can increase patient engagement and accommodation of residual volitional motor control during SCI rehabilitation, with immediate future applications including the incorporation of other promising rehabilitation techniques such as robotic assistance.Thesis (Masters)
Master of Medical Research (MMedRes)
School of Pharmacy & Med Sci
Griffith Health
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Johnson, Lise. "DECODING ELECTRIC FIELDS OF THE NERVOUS SYSTEM: INVESTIGATIONS OF INFORMATION STORAGE AND TRANSFER IN THE CENTRAL AND PERIPHERAL NERVOUS SYSTEM." Diss., The University of Arizona, 2010. http://hdl.handle.net/10150/193574.
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Electrical potentials are the fundamental currency of communication in the nervous system. The advanced executive functions of the prefrontal cortex and the motor commands delivered to the neuromuscular junction, though involved with very different aspects of behavior, both rely on time-varying electrical signals. It is possible to "listen to" the internal communications of the nervous system by measuring the electrical potentials in the extra-cellular space. However, this is only meaningful if there is some way to interpret these signals, which are incredibly complicated and information rich. This dissertation represents an attempt to decode some of these signals in order to reveal their significance for behavior and function. The first study is an investigation of the relationship between different elements of the local field potential in the prefrontal cortex and memory consolidation. It is shown that certain electrographic signatures of non-rapid eye movement sleep, namely K-complexes and low-voltage spindles, are correlated with neuronal replay of recent experiences. It is also shown that the global fluctuations of activity in the population of cells, known as up/down states, is correlated with neuronal replay. Finally, it is shown that high-voltage spindles are not correlated with memory replay, and are therefore functionally different from low-voltage spindles. The second study focuses on the relationship between movements of the upper limb and the coordinated neural control, as measured by the electromyogram (EMG), of the muscles generating that movement. We show that different probability-based models can be used to predict what the pattern of EMG in the different muscles will be for any given kinematic state of the hand. In the third study it is demonstrated that the kinematic output associated with a particular pattern of EMG can be reproduced with electrical stimulation. Thus, it is not only possible to understand the commands issued by the nervous system, it is also possible to issue commands by interfacing with the nervous system directly. Finally, the design for an experiment that would combine EMG prediction with translation of EMG into electrical stimulus patterns is presented. The objective of this study would be to use these methods to fully control the upper limb in a way that would be useful for a functional electrical stimulation-based neuroprosthetic for spinal cord injured patients.
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Steinmetz, Sarah. "Design, Implementation, and Validation of an Experimental Setup for Closed-Loop Functional Electrical Stimulation Applications." Honors in the Major Thesis, University of Central Florida, 2007. http://digital.library.ucf.edu/cdm/ref/collection/ETH/id/1192.
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This item is only available in print in the UCF Libraries. If this is your Honors Thesis, you can help us make it available online for use by researchers around the world by following the instructions on the distribution consent form at http://library.ucf.edu/Systems/DigitalInitiatives/DigitalCollections/InternetDistributionConsentAgreementForm.pdf You may also contact the project coordinator, Kerri Bottorff, at kerri.bottorff@ucf.edu for more information.Bachelors
Engineering and Computer Science
Mechanical Engineering
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Catalfamo, Formento Paola. "Evaluation of gyroscope as a sensor in functional electrical stimulation for children with cerebral palsy." Thesis, University of Surrey, 2007. http://epubs.surrey.ac.uk/683/.
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Robinson, Matthew M. "The Effect of Functional Electrical Stimulation (FES) Applied to the Gluteus Medius During Resistance Training." University of Toledo / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1525343063114996.
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Dutta, Anirban. "Development of an Electromyogram-Based Controller for Functional Electrical Stimulation-Assisted Walking After Partial Paralysis." Cleveland, Ohio : Case Western Reserve University, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=case1238761874.
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Merkel, Daniel [Verfasser]. "Manual stimulation, but not acute electrical stimulation prior to reconstructive surgery, improves functional recovery after facial nerve injury in rats / Daniel Merkel." Köln : Deutsche Zentralbibliothek für Medizin, 2011. http://d-nb.info/1013607724/34.
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Li, Zhan. "Nouvelle modalité de contrôle en boucle fermée de l'activation musculaire et prédiction en ligne du couple musculaire sous SEF." Thesis, Montpellier 2, 2014. http://www.theses.fr/2014MON20095/document.
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La stimulation électrique fonctionnelle (SEF) est une des techniques utilisées pour la rééducation ou la suppléance fonctionnelle de déficiences motrices. Un stimulateur génère des impulsions électriques qui induisent des contractions des muscles paralysés, au travers des unités motrices toujours intactes. Aujourd'hui, les systèmes fonctionnant en boucle ouverte sont majoritairement utilisés. Ils permettent aux chercheurs d'évaluer hors-ligne de la SEF. Cependant, leur réglage reste basé sur un cycle essai-erreur ce qui est loin de simplifier la mise en œuvre de systèmes en boucle fermée. Dans cette thèse, nous proposons une méthode de prédiction en temps-réel du couple en fonction de l'EMG conduisant à une nouvelle modalité de contrôle de l'activation musculaire sous SEF. L'EMG évoquée (eEMG) donne une image de l'effet de la SEF sur l'activité musculaire et est ainsi impliquée à la fois dans l'estimation du couple en temps réel et le contrôle. Le couple articulaire peut être estimé par l'eEMG en utilisant un filtre de Kalman et un modèle NARX - RNN. Le facteur d'oubli du filtre de Kalman doit être soigneuse-ment choisi de même que les réglages du schéma de calcul. C'est une limitation en particulier quand lorsque qu'il n'y a aucune connaissance a priori sur la force générée par le sujet sous SEF. La méthode proposée NARX-RNN n'a pas ce défaut et offre de meilleures performances que le filtre de Kalman. L'estimation du couple basée eEMG est donc utilisée hors-ligne et en-ligne en temps réel. Les performances comparées des algorithmes ont été effectues sur sujets sains et sujets blessés médullaires. Par ailleurs, le système temps-réel de contrôle de l'activation musculaire basé EMG a été développé sur la technologie sans fil Vivaltis. Enfin, afin de proposer un contrôle de plusieurs muscles, le concept de synergie a été utilisée pour estimer les activations musculaires cibles à partir d'un couple articulaire désiré. Les niveaux de synergie moyenne ont été utilisés pour valider l'extraction d'activation sur le sujet non inclus dans le calcul de la moyenne. L'erreur d'estimation est de 9.3% sur l'ensemble des sujets. Ces résultats vont dans le sens d'un contrôle d'une neuroprothèse basé synergie. En effet la combinaison des eux contributions de la thèse ouvre des perspectives nouvelles de modalité de contrôle de la SEFFunctional electrical stimulation (FES) is one of existing rehabilitationtechniques to restore lost motor functions for motor-impaired subjects. Thestimulator generates electrical pulses to drive artificial contractions of theparalysed muscles, through activating intact motor units. Currently open-loopFES system is the most frequently used. The data acquired from the open-loop FESwould help researchers to make off-line analysis for evaluating performance ofFES systems. However, it should go through a trial and error manner, which isfar from facilitating a implementation of real-time closed-loop FES system.In this thesis, we propose and develop a method for real-time EMG-feedback torqueprediction and muscle activation control toward new modality in FES.The evoked electromyography (eEMG) which can reflect electrical muscleactivities under FES, is involved in both offline and real-time FES-inducedtorque estimation and muscle control systems. FES-induced joint torque can beestimated/predicted with eEMG by employing both Kalman filter and NonlinearAuto-Regressive with Exogenous (NARX) type recurrent neural network (RNN). Theforgetting factor of Kalman filter should be properly selected in advance andalso with proper computational settings. It is a limitation for some casesespecially when we do not have prior knowledge of new subject regarding expectedmuscle response intensity induced by FES. The proposed NARX-RNN does not sufferfrom such computational setting problems and also shows better estimation/prediction performances than that of Kalman filter.Evoked EMG based torque estimator is exploited from off-line situation toonline real-time system. Recursive Kalman filter and NARX-RNN are implementedfor real-time torque estimation/prediction with evoked EMG. The performance wasverified both in able-bodied and spinal cord injured subjects. Furthermore, real-time EMG-feedback muscle activation control in FES system is developed togetherwith wireless Vivaltis stimulator for specifying directly muscle activationinstead of conventionally specifying stimulation pattern.Toward natural multiple muscles control with multi-channel FES, muscle synergyconcept was introduced for inverse estimation of muscle activations from desiredjoint moment. The averaged synergy ratio was applied for muscle activationestimation with leave-one-out cross validation manner, which resulted in 9.3%estimation error over all the subjects. This result supports the common musclesynergy-based neuroprosthetics control concept. By combining this inverse estimation of muscle activations together with real-time EMG-feedback muscle activation control, it would open a new modality toward muscle synergy-basedmulti-muscle activation control in FES
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Galen, Sujay Saphire. "A combination of Botulinum toxin A therapy and functional electrical stimulation in children with cerebral palsy." Thesis, University of Strathclyde, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.435110.
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Tong, Daisy. "Development of an upper limb rehabilitation system using functional electrical stimulation mediated by iterative learning control." Thesis, University of Southampton, 2013. https://eprints.soton.ac.uk/349470/.
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Stroke affects more than 150,000 people every year and is the third major cause of adult disability in the UK. Stroke rehabilitation plays an important part in the motor skills recovery of the stroke patients. This thesis forms part of the development of an upper arm rehabilitation system which involves the use of Functional Electrical Stimulation (FES). Motivation for this use of stimulation to augment remaining voluntary effort in strokepatients is explained and the necessary components comprising the system are described. The task considered in this thesis is reaching, which involves elbow extension and shoulder elevation. FES is applied to two muscles, triceps and anterior deltoid respectively, to assist in these movements. A review of the literature has revealed possible control schemes which could be implemented with FES. Relatively few, however, have actually been implemented in clinical trials. This work, aims to apply selected controllers in clinical applications. A series of controllers are examined, starting from the simplest feedback controller going to more advanced model-based Iterative Learning Control (ILC) controllers. These include phase-lead ILC, input-output linearisation, and Newton-method based ILC. ILC algorithms are commonly used in industrial robots for precise control. The aim of this work is to transfer these algorithms to clinical settings. ILC algorithms are used to provide finely-controlled levels of FES assistance to patients during repetitive training tasks. To use a model-based controller, kinematic and dynamic models of the Armeo and human arm have been developed. The muscle model of the human arm has been derived using a Hill-type model while the Hammerstein model is used to model the stimulated muscle. The complete system has then been used in a clinical study involving five stroke patients. Improvements in clinical measured Fugl-Meyer Assessment (FMA) scores were seen in the stroke patients after the trials.
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White, Kevin Scott. "MODELING INTERFASCICULAR INTERFACES FOR PERIPHERAL NERVES." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1347023787.
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Smith, C. L. "Usability engineering in the design and evaluation of a functional electrical stimulation system for upper limb rehabilitation." Thesis, University of Salford, 2015. http://usir.salford.ac.uk/36172/.
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Chronic physical impairment of the hemiplegic upper limb (UL) is seen in an estimated 50-70% of stroke patients, who place a high priority on regaining upper limb function. Current therapy is insufficiently intensive, often not task-oriented and hence poorly aligned with the evidence base. Functional electrical stimulation (FES) has the potential to not only increase the intensity of task-focused therapy, but also provide certain unique features, notably direct excitation of lower motor neurons. However, current FES systems are limited in their functionality and/or difficult to use. Systems are also poorly aligned to therapists’ ways of working and uptake remains limited. To address these problems, a novel FES technology (UL FES Rehab Tool) has been developed. The control system design is reported in Sun, (2014). The aims of my thesis were to: 1) design a Graphical User Interface (GUI) that would enable therapists to quickly and easily set up an individually tailored library of FES tasks for each patient; 2) evaluate the usability and functionality of the UL FES Rehab Tool(software and hardware) in both laboratory (lab) and clinical settings. An iterative, mixed methods, five-phase usability engineering approach was used to design and evaluate the UL FES Rehab Tool. Phases one to three incorporated identification of therapists’ requirements, a user ‘assisted walkthrough’ of the software with expert and novice FES users and ‘rapid prototyping’ of the full system, using healthy participants. Further usability testing of the software & hardware was conducted in phase four with 1 physiotherapist and 6 patients, (total of 24 visits), in the chronic stage post-stroke. The work demonstrated in detail, for the first time, the impact of therapist involvement in the design of novel rehabilitation technology. To address therapists’ focus on setup time, using the phase four data set, a novel model to predict setup time was devised. This model was able to explain 51% of the variance in setup time based on two parameters, task complexity and patient impairment. Finally, in phase five, a summative usability evaluation of the final prototype was carried out in 2 sub-acute stroke units. Four therapists and 1 rehabilitation assistant used the UL FES Rehab Tool with 6 patients in the acute stage post-stroke. The UL FES Rehab Tool enabled all therapists and one therapy assistant to effectively deliver FES assisted upper limb task-oriented therapy to a range of stroke patients (Fugl-Meyer scores 8–65). The usability methods effectively captured objective and subjective feedback from therapists and patients. However the previous setup time model was unable to predict setup time, suggesting other factors were important in a clinical setting. Although participant numbers were low, the results suggested therapists’ predisposition to using technology and post-training confidence in using the technology may influence their willingness to engage with novel rehabilitation technologies. This study is the first to describe in detail the impact of a usability engineering approach on the design of a complex upper limb rehabilitation technology from early stage design to clinical evaluation. These methods can be generalised to other studies seeking to explore the usability of new forms of rehabilitation technologies.