Multi Degree of Freedom Hybrid FES and Robotic Control of the Upper Limb.

Individuals who have suffered a spinal cord injury often require assistance to complete daily activities, and for individuals with tetraplegia, recovery of upper-limb function is among their top priorities. Hybrid functional electrical stimulation (FES) and exoskeleton systems have emerged as a potential solution to provide upper limb movement assistance. These systems leverage the user's own muscles via FES and provide additional movement support via an assistive exoskeleton.

Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements.

Introduction: Individuals who have suffered a cervical spinal cord injury prioritize the recovery of upper limb function for completing activities of daily living. Hybrid FES-exoskeleton systems have the potential to assist this population by providing a portable, powered, and wearable device; however, realization of this combination of technologies has been challenging. In particular, it has been difficult to show generalizability across motions, and to define optimal distribution of actuation, given the complex nature of the combined dynamic system.

Shared Control of Elbow Movements with Functional Electrical Stimulation and Exoskeleton Assistance.

Individuals who suffer from paralysis as a result of a spinal cord injury list restoration of arm and hand function as a top priority. FES helps restore movement using the user's own muscles, but does not produce accurate and repeatable movements necessary for many functional tasks. Robots can assist users in achieving accurate and repeatable movements, but often require bulky hardware to generate the necessary torques.