Adaptive repetitive control of wrist tremor suppression based on functional electrical stimulation_Journal of Biomedical Engineering

Authors：

ZHANG Zan ¹ ,  LIU Yanhong ¹ , CHU Bing ² , HUO Benyan ¹ , OWENS David Howard ^1,3

1. School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou 450001, P. R. China;
2. Department of Electronics and Computer Science, University of Southampton, Southampton SO17 1BJ, UK;
3. Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield S1 3JD, UK;

Corresponding author：

LIU Yanhong, Email: liuyh@zzu.edu.cn

Keywords：

Functional electrical stimulation; Tremor suppression; Series high-order internal model; Parallel multiple internal models; Adaptive repetitive control

DOI：

10.7507/1001-5515.202202008

Video：

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Tremor is an involuntary and repetitive swinging movement of limb, which can be regarded as a periodic disturbance in tremor suppression system based on functional electrical stimulation (FES). Therefore, using repetitive controller to adjust the level and timing of FES applied to the corresponding muscles, so as to generate the muscle torque opposite to the tremor motion, is a feasible means of tremor suppression. At present, most repetitive control systems based on FES assume that tremor is a fixed single frequency signal, but in fact, tremor may be a multi-frequency signal and the tremor frequency also varies with time. In this paper, the tremor data of intention tremor patients are analyzed from the perspective of frequency, and an adaptive repetitive controller with internal model switching is proposed to suppress tremor signals with different frequencies. Simulation and experimental results show that the proposed adaptive repetitive controller based on parallel multiple internal models and series high-order internal model switching can suppress tremor by up to 84.98% on average, which is a significant improvement compared to the traditional single internal model repetitive controller and filter based feedback controller. Therefore, the adaptive repetitive control method based on FES proposed in this paper can effectively address the issue of wrist intention tremor in patients, and can offer valuable technical support for the rehabilitation of patients with subsequent motor dysfunction.

Citation： ZHANG Zan, LIU Yanhong, CHU Bing, HUO Benyan, OWENS David Howard. Adaptive repetitive control of wrist tremor suppression based on functional electrical stimulation. Journal of Biomedical Engineering, 2023, 40(4): 663-675. doi: 10.7507/1001-5515.202202008 Copy

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2.	王宇卉. 解读2017年国际帕金森病和运动障碍学会震颤工作组共识声明之震颤的分类. 世界临床药物, 2018, 39(7): 433-440.
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4.	Fukutome K, Kuga Y, Ohnishi H, et al. What factors impact the clinical outcome of magnetic resonance imaging-guided focused ultrasound thalamotomy for essential tremor?. Journal of Neurosurgery, 2020, 134(5): 1618-1623.
5.	Eisenberg H M, Krishna V, Elias W J, et al. MR-guided focused ultrasound pallidotomy for Parkinson’s disease: safety and feasibility. Journal of Neurosurgery, 2020, 135(3) : 792-798.
6.	梅加明, 牛朝诗, 熊赤, 等. 苍白球或丘脑毁损术后帕金森病脑深部电刺激术疗效分析及策略. 中国现代神经疾病杂志, 2020, 20(12): 1045-1049.
7.	Zahedi A, Zhang B, Yi A, et al. A soft exoskeleton for tremor suppression equipped with flexible semiactive actuator. Soft Robotics, 2021, 8(4): 432-447.
8.	Pascual-Valdunciel A, Hoo G W, Avrillon S, et al. Peripheral electrical stimulation to reduce pathological tremor: a review. Journal of Neuroengineering and Rehabilitation, 2021, 18(1): 33.
9.	Shin H, Hawari M A, Hu X. Activation of superficial and deep finger flexors through transcutaneous nerve stimulation. IEEE Journal of Biomedical and Health Informatics, 2021, 25(7): 2575-2582.
10.	Li Y, Yang X., Zhou Y, et al. Adaptive stimulation profiles modulation for foot drop correction using functional electrical stimulation: a proof of concept study. IEEE Journal of Biomedical and Health Informatics, 2020, 25(1): 59-68.
11.	李嘉莹, 赵丽, 边琰, 等. 电刺激辅助下肢运动想象特征分类以增强康复训练研究. 生物医学工程学杂志, 2021, 38(3): 425-433.
12.	Prochazka A, Elek J, Javidan M. Attenuation of pathological tremors by functional electrical stimulation I: method. Annals of Biomedical Engineering, 1992, 20(2): 205-224.
13.	Zhang D, Poignet P, Widjaja F, et al. Neural oscillator based control for pathological tremor suppression via functional electrical stimulation. Control Engineering Practice, 2011, 19(1): 74-88.
14.	Taheri B, Case D, Richer E. Robust controller for tremor suppression at musculoskeletal level in human wrist. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2014, 22(2): 379-388.
15.	张伟, 张定国, 刘建荣. 基于功能性电刺激的腕关节多自由度震颤抑制仿真研究. 生物医学工程学杂志, 2015, 32(2): 423-429.
16.	Copur E H, Freeman C T, Chu B, et al. Repetitive control of electrical stimulation for tremor suppression. IEEE Transactions on Control Systems Technology, 2019, 27(2): 540-552.
17.	Verstappen R J, Freeman C T, Rogers E, et al. Robust higher order repetitive control applied to human tremor suppression//IEEE International Symposium on Intelligent Control, Croatia: IEEE, 2012: 1214-1219.
18.	Freeman C T, Sampsonb P, Burridgeb J H, et al. Repetitive control of functional electrical stimulation for induced tremor suppression. Mechatronics, 2015, 32: 79-87.
19.	Kovács A, Kiss M, Pintér N, et al. Characteristics of tremor induced by lesions of the cerebellum. Cerebellum, 2019, 18(4): 705-720.
20.	Zhang Z, Chu B, Liu Y, et al. Multiperiodic repetitive control for functional electrical stimulation-based wrist tremor suppression. IEEE Transactions on Control Systems Technology, 2022, 30(4): 1494-1509.
21.	Kurniawan E, Afandi M I, Suryadi. Repetitive control system for tracking and rejection of multiple periodic signals//2017 International Conference on Robotics, Automation and Sciences (ICORAS), Malaysia: IEEE, 2017. DOI: 10.1109/ICORAS.2017.8308058.
22.	Xu Q, Hu Z, Wu J, et al. Fast control strategy of APF based on improved DFT algorithm and repetitive control with multiple control frequency in synchronous rotation coordinates//22nd International Conference on Electrical Machines and Systems (ICEMS), Harbin: CES, 2019. DOI: 10.1109/icems.2019.8922157.
23.	Sa-e S, Freeman C T, Yang K. Iterative learning control of functional electrical stimulation in the presence of voluntary user effort. Control Engineering Practice, 2020, 96: 104303.
24.	Lyons G M, Leane G E, Clarke M M, et al. An investigation of the effect of electrode size and electrode location on comfort during stimulation of the gastrocnemius muscle. Medical Engineering & Physics, 2004, 26(10): 873-878.
25.	Colacino F M, Emiliano R, Mace B R. Subject specific musculoskeletal parameters of wrist flexors and extensors estimated by an EMG-driven musculoskeletal model. Medical Engineering & Physics, 2012, 34(5): 531-540.
26.	Curtin M, Lowery M M. Musculoskeletal modelling of muscle activation and applied external forces for the correction of scoliosis. Journal of NeuroEngineering and Rehabilitation, 2014, 11: 52–63.
27.	Longman R W. On the theory and design of linear repetitive control systems. European Journal of Control, 2010, 16(5): 447-496.
28.	Bhatia K P, Bain P, Bajaj N, et al. Consensus statement on the classification of tremors. From the task force on tremor of the international Parkinson and movement disorder society. Movement Disorders, 2018, 33(1): 75-87.

1. Saifee T A. Tremor. British Medical Bulletin, 2019, 130(1): 51-63.
2. 王宇卉. 解读2017年国际帕金森病和运动障碍学会震颤工作组共识声明之震颤的分类. 世界临床药物, 2018, 39(7): 433-440.
3. Smits E J, Tolonen A J, Cluitmans L, et al. Graphical tasks to measure upper limb function in patients with Parkinson’s disease: validity and response to dopaminergic medication. IEEE Journal of Biomedical and Health Informatics, 2017, 21(1): 283-289.
4. Fukutome K, Kuga Y, Ohnishi H, et al. What factors impact the clinical outcome of magnetic resonance imaging-guided focused ultrasound thalamotomy for essential tremor?. Journal of Neurosurgery, 2020, 134(5): 1618-1623.
5. Eisenberg H M, Krishna V, Elias W J, et al. MR-guided focused ultrasound pallidotomy for Parkinson’s disease: safety and feasibility. Journal of Neurosurgery, 2020, 135(3) : 792-798.
6. 梅加明, 牛朝诗, 熊赤, 等. 苍白球或丘脑毁损术后帕金森病脑深部电刺激术疗效分析及策略. 中国现代神经疾病杂志, 2020, 20(12): 1045-1049.
7. Zahedi A, Zhang B, Yi A, et al. A soft exoskeleton for tremor suppression equipped with flexible semiactive actuator. Soft Robotics, 2021, 8(4): 432-447.
8. Pascual-Valdunciel A, Hoo G W, Avrillon S, et al. Peripheral electrical stimulation to reduce pathological tremor: a review. Journal of Neuroengineering and Rehabilitation, 2021, 18(1): 33.
9. Shin H, Hawari M A, Hu X. Activation of superficial and deep finger flexors through transcutaneous nerve stimulation. IEEE Journal of Biomedical and Health Informatics, 2021, 25(7): 2575-2582.
10. Li Y, Yang X., Zhou Y, et al. Adaptive stimulation profiles modulation for foot drop correction using functional electrical stimulation: a proof of concept study. IEEE Journal of Biomedical and Health Informatics, 2020, 25(1): 59-68.
11. 李嘉莹, 赵丽, 边琰, 等. 电刺激辅助下肢运动想象特征分类以增强康复训练研究. 生物医学工程学杂志, 2021, 38(3): 425-433.
12. Prochazka A, Elek J, Javidan M. Attenuation of pathological tremors by functional electrical stimulation I: method. Annals of Biomedical Engineering, 1992, 20(2): 205-224.
13. Zhang D, Poignet P, Widjaja F, et al. Neural oscillator based control for pathological tremor suppression via functional electrical stimulation. Control Engineering Practice, 2011, 19(1): 74-88.
14. Taheri B, Case D, Richer E. Robust controller for tremor suppression at musculoskeletal level in human wrist. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2014, 22(2): 379-388.
15. 张伟, 张定国, 刘建荣. 基于功能性电刺激的腕关节多自由度震颤抑制仿真研究. 生物医学工程学杂志, 2015, 32(2): 423-429.
16. Copur E H, Freeman C T, Chu B, et al. Repetitive control of electrical stimulation for tremor suppression. IEEE Transactions on Control Systems Technology, 2019, 27(2): 540-552.
17. Verstappen R J, Freeman C T, Rogers E, et al. Robust higher order repetitive control applied to human tremor suppression//IEEE International Symposium on Intelligent Control, Croatia: IEEE, 2012: 1214-1219.
18. Freeman C T, Sampsonb P, Burridgeb J H, et al. Repetitive control of functional electrical stimulation for induced tremor suppression. Mechatronics, 2015, 32: 79-87.
19. Kovács A, Kiss M, Pintér N, et al. Characteristics of tremor induced by lesions of the cerebellum. Cerebellum, 2019, 18(4): 705-720.
20. Zhang Z, Chu B, Liu Y, et al. Multiperiodic repetitive control for functional electrical stimulation-based wrist tremor suppression. IEEE Transactions on Control Systems Technology, 2022, 30(4): 1494-1509.
21. Kurniawan E, Afandi M I, Suryadi. Repetitive control system for tracking and rejection of multiple periodic signals//2017 International Conference on Robotics, Automation and Sciences (ICORAS), Malaysia: IEEE, 2017. DOI: 10.1109/ICORAS.2017.8308058.
22. Xu Q, Hu Z, Wu J, et al. Fast control strategy of APF based on improved DFT algorithm and repetitive control with multiple control frequency in synchronous rotation coordinates//22nd International Conference on Electrical Machines and Systems (ICEMS), Harbin: CES, 2019. DOI: 10.1109/icems.2019.8922157.
23. Sa-e S, Freeman C T, Yang K. Iterative learning control of functional electrical stimulation in the presence of voluntary user effort. Control Engineering Practice, 2020, 96: 104303.
24. Lyons G M, Leane G E, Clarke M M, et al. An investigation of the effect of electrode size and electrode location on comfort during stimulation of the gastrocnemius muscle. Medical Engineering & Physics, 2004, 26(10): 873-878.
25. Colacino F M, Emiliano R, Mace B R. Subject specific musculoskeletal parameters of wrist flexors and extensors estimated by an EMG-driven musculoskeletal model. Medical Engineering & Physics, 2012, 34(5): 531-540.
26. Curtin M, Lowery M M. Musculoskeletal modelling of muscle activation and applied external forces for the correction of scoliosis. Journal of NeuroEngineering and Rehabilitation, 2014, 11: 52–63.
27. Longman R W. On the theory and design of linear repetitive control systems. European Journal of Control, 2010, 16(5): 447-496.
28. Bhatia K P, Bain P, Bajaj N, et al. Consensus statement on the classification of tremors. From the task force on tremor of the international Parkinson and movement disorder society. Movement Disorders, 2018, 33(1): 75-87.

Journal of Biomedical Engineering

Adaptive repetitive control of wrist tremor suppression based on functional electrical stimulation

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