FEEDBACK CONTROL OF A HIGH LEVEL UPPER EXTREMITY NEUROPROSTHESIS by DIMITRA BLANA Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy Dissertation Adviser: Dr. Robert F. Kirsch Department of Biomedical Engineering CASE WESTERN RESERVE UNIVERSITY May, 2008 CASE WESTERN RESERVE UNIVERSITY SCHOOL OF GRADUATE STUDIES We hereby approve the thesis/dissertation of Dimitra Blana candidate for the PhD degree *. (signed) Robert F. Kirsch (chair of the committee) Patrick E. Crago Musa L. Audu Antonie van den Bogert Wyatt S. Newman (date) March 17th 2008 *We also certify that written approval has been obtained for any proprietary material contained therein. TABLE OF CONTENTS LIST OF TABLES .................................................................................................................. 5 LIST OF FIGURES ................................................................................................................ 6 ACKNOWLEDGEMENTS ................................................................................................... 9 ABSTRACT ........................................................................................................................... 10 CHAPTER 1: INTRODUCTION ........................................................................................ 12 Anatomy of the human upper extremity ............................................................................ 12 Spinal cord injury ................................................................................................................. 13 Functional Electrical Stimulation ........................................................................................ 14 Musculoskeletal modeling .................................................................................................... 15 Problem description .............................................................................................................. 16 Summary of research ............................................................................................................ 17 CHAPTER 2: A MUSCULOSKELETAL MODEL OF THE UPPER EXTREMITY FOR USE IN THE DEVELOPMENT OF NEUROPROSTHETIC SYSTEMS ............ 19 Abstract .................................................................................................................................. 19 Introduction ........................................................................................................................... 20 Methods .................................................................................................................................. 21 Model Construction ............................................................................................................ 21 Experimental setup.............................................................................................................. 24 Model evaluation ................................................................................................................ 27 Application to C3 SCI with and without FES ..................................................................... 27 Results .................................................................................................................................... 28 Discussion............................................................................................................................... 34 CHAPTER 3: MODEL-BASED SELECTION OF MUSCLE AND NERVE CUFF ELECTRODES FOR A HIGH TETRAPLEGIA NEUROPROSTHESIS ..................... 38 Abstract .................................................................................................................................. 38 2 Introduction ........................................................................................................................... 39 Methods .................................................................................................................................. 42 Results .................................................................................................................................... 46 Discussion............................................................................................................................... 53 CHAPTER 4: COMBINED FEEDFORWARD AND FEEDBACK CONTROL OF A REDUNDANT, NON-LINEAR, DYNAMIC MUSCULO-SKELETAL SYSTEM. ....... 57 Abstract .................................................................................................................................. 57 Introduction ........................................................................................................................... 57 Methods .................................................................................................................................. 61 The model ............................................................................................................................ 61 The controller...................................................................................................................... 63 Results .................................................................................................................................... 66 Discussion............................................................................................................................... 73 CHAPTER 5: A SHOULDER AND ARM CONTROLLER FOR TRAJECTORY TRACKING AND STABILITY .......................................................................................... 76 Abstract .................................................................................................................................. 76 Introduction ........................................................................................................................... 76 Methods .................................................................................................................................. 78 The model ............................................................................................................................ 78 The controller...................................................................................................................... 80 Controller evaluation .......................................................................................................... 83 Results .................................................................................................................................... 84 Discussion............................................................................................................................... 94 CHAPTER 6: ADAPTIVE CONTROL USING CO-CONTRACTION OF ANTAGONISTIC MUSCLES ............................................................................................. 97 Abstract .................................................................................................................................. 97 Introduction ........................................................................................................................... 97 Methods ................................................................................................................................ 100 The model .......................................................................................................................... 100 3 Controller .......................................................................................................................... 101 Adaptation and co-contraction level ................................................................................. 102 Experimental evaluation ................................................................................................... 105 Results .................................................................................................................................. 108 Discussion............................................................................................................................. 114 CHAPTER 7: PERFORMANCE OF A FEEDFORWARD-FEEDBACK FES CONTROLLER IN AN INDIVIDUAL WITH HIGH TETRAPLEGIA ...................... 117 Abstract ................................................................................................................................ 117 Introduction ......................................................................................................................... 117 Methods ................................................................................................................................ 119 The subject ........................................................................................................................ 119 The controller.................................................................................................................... 121 Controller evaluation ........................................................................................................ 125 Results .................................................................................................................................. 126 Discussion............................................................................................................................. 134 CHAPTER 8: CONCLUSIONS ........................................................................................ 138 REFERENCES .................................................................................................................... 146