Tremor Suppression on Multi-DoF Wrist Joint Based on Functional Electrical Stimulation: A Simulation Study_Journal of Biomedical Engineering

Authors：

ZHANGWei ¹ ,  ZHANGDingguo ¹ , LIUJianrong ²

1. Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China;
2. Department of Neurology, Ruijin Hospital, Shanghai Jiao Tong University, Shanghai 200025, China;

Corresponding author：

ZHANGDingguo, Email: dgzhang@sjtu.edu.cn

Keywords：

functional electrical stimulation; pathological tremor; musculoskeletal model; inverse model control; linear quadratic regulator

DOI：

10.7507/1001-5515.20150076

Video：

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Abstract Full text Figures/Tables Video References Cited by

An automatic control system was designed to suppress pathological tremor on wrist joint with two degrees of freedom (DoF) using functional electrical stimulation (FES). The tremor occurring in the wrist flexion-extension and adduction-abduction was expected to be suppressed. A musculoskeletal model of wrist joint was developed to serve as the control plant, which covered four main muscles (extensor carpi radialis longus, extensor carpi ulnaris, flexor carpi radialis, and flexor carpi ulnaris). A second-order mechanical impedance model was used to describe the wrist skeletal dynamics. The core work was to design the controller and a hybrid control strategy was proposed, which combined inverse model based on feed forward control and linear quadratic regulator (LQR) optimal control. Performance of the system was tested under different input conditions (step signal, sinusoidal signal, and real data of a patient). The results indicated that the proposed hybrid controller could attenuate over 94% of the tremor amplitude on multi-DoF wrist joint.

Citation： ZHANGWei, ZHANGDingguo, LIUJianrong. Tremor Suppression on Multi-DoF Wrist Joint Based on Functional Electrical Stimulation: A Simulation Study. Journal of Biomedical Engineering, 2015, 32(2): 423-429. doi: 10.7507/1001-5515.20150076 Copy

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14.	CHARLES S K, HOGAN N. Dynamics of wrist rotations[J]. J Biomech, 2011, 44(4):614-621.
15.	王晓侃, 冯冬青.基于MATLAB的LQR控制器设计方法研究[J].微计算机信息, 2008, 24(4-1):37-39.
16.	(美)威德罗(Bernard Widrow), (以)瓦莱斯(Eugene Walach).自适应逆控制[M].刘树棠, 韩崇昭, 译.西安:西安交通大学出版社, 2000.

1. WYNE K T. A comprehensive review of tremor[J]. J Am Acad Phys Assist, 2005, 18(12):43-50; quiz 57-58.
2. GRIMES D A. Tremor--easily seen but difficult to describe and treat[J]. Can J Neurol Sci, 2003, 30(Suppl 1):S59-S63.
3. HUNTER I W, DOUKOGLOU T D, LAFONTAINE S R, et al. A teleoperated microsurgical robot and associated virtual environment for eye surgery[J]. Presence, 1993, 2(4):265-280.
4. HUBBLE J P, BUSENBARK K L, WILKINSON S, et al. Deep brain stimulation for essential tremor[J]. Neurology, 1996, 46(4):1150-1153.
5. PROCHAZKA A, ELEK J, JAVIDAN M. Attenuation of pathological tremors by functional electrical stimulation.Ⅰ:Method[J]. Ann Biomed Eng, 1992, 20(2):205-224.
6. BÓ A P L, POIGNET P. Tremor attenuation using FES-based joint stiffness control[C]//Proceedings of 2010 IEEE International Conference on Robotics and Automation (ICRA). Anchorage, AK:2010:2928-2933.
7. ZHANG Dingguo, POIGNET P, WIDJAJA F, et al. Neural oscillator based control for pathological tremor suppression via functional electrical stimulation[J]. Control Eng Prac, 2011, 19(1):74-88.
8. FERRARIN M, PALAZZO F, RIENER R, et al. Model-based control of FES-induced single joint movements[J]. IEEE Trans Neural Syst Rehabil Eng, 2001, 9(3):245-257.
9. YAO Peng, ZHANG Dingguo, HAYASHIBE M. Simulation of tremor on 3-dimentional musculoskeletal model of wrist joint and experimental verification[C]//IEEE EMBC. San Diego, CA:2012:4823-4826.
10. ZAJAC F E. Muscle and tendon:properties, models, scaling, and application to biomechanics and motor control[J]. Crit Rev Biomed Eng, 1989, 17(4):359-411.
11. RIENER R, FERRARIN M, PAVAN E E, et al. Patient-driven control of FES-supported standing up and sitting down:experimental results[J]. IEEE Trans Rehabil Eng, 2000, 8(4):523-529.
12. HATZE H. A comprehensive model for human motion simulation and its application to the take-off phase of the long jump[J]. J Biomech, 1981, 14(3):135-142.
13. GONZALEZ R V, BUCHANAN T S, DELP S L. How muscle architecture and moment arms affect wrist flexion-extension moments[J]. J Biomech, 1997, 30(7):705-712.
14. CHARLES S K, HOGAN N. Dynamics of wrist rotations[J]. J Biomech, 2011, 44(4):614-621.
15. 王晓侃, 冯冬青.基于MATLAB的LQR控制器设计方法研究[J].微计算机信息, 2008, 24(4-1):37-39.
16. (美)威德罗(Bernard Widrow), (以)瓦莱斯(Eugene Walach).自适应逆控制[M].刘树棠, 韩崇昭, 译.西安:西安交通大学出版社, 2000.

Journal of Biomedical Engineering

Tremor Suppression on Multi-DoF Wrist Joint Based on Functional Electrical Stimulation: A Simulation Study

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