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Biomedical subjects

H J Chizeck

Publications and source records attributed to H J Chizeck.

At least 19 recordsLinked to original sources
PubMed1992

Nonlinear joint angle control for artificially stimulated muscle.

Designs of both open- and closed-loop controllers of electrically stimulated muscle that explicitly depend on a nonlinear mathematical model of muscle input-output properties are presented and evaluated. The muscle model consists of three factors: a muscle activation dynamics factor, an angle-torque relationship factor, and an angular velocity torque relationship factor. These factors are multiplied to relate output torque to input stimulation and joint angle. An experimental method for the determination of the parameters of this model was designed, implemented, and evaluated. An open-loop nonlinear compensator, based upon this model, was tested in an animal model. Its performance in the control of joint angle in the presence of a known load was compared with a PID controller, and with a combination of the PID controller and the nonlinear compensator. The performance of the nonlinear compensator appeared to be strongly dependent on modeling errors. Its performance was roughly equivalent to that of the PID controller alone: somewhat better when the model was accurate, and somewhat worse when it was inaccurate. Combining the nonlinear open loop compensator with the PID feedback controller improved performance when the model was accurate.

Animals↗
PubMed1992

Instrumented parallel bars for three-dimensional force measurement.

This paper describes the modification and instrumentation of standard parallel bars to allow for the measurement of applied forces on both horizontal bars in three dimensions. This measurement system has been used in the development and evaluation of functional electrical stimulation (FES) devices for standing and gait restoration in paralyzed patients. Real-time measurement of forces applied by the upper body of the patient to the parallel bars is of use in the evaluation of FES stimulation patterns (or automatic controllers of stimulation). Such measurements are useful in the redesign of stimulation patterns and/or stimulation controllers.

Biophysics↗
PubMed1991

Adaptive control is enhanced by background estimation.

The automated control of physiological variables must often contend with an unknown and time-varying background (i.e., the output level corresponding to no input). To allow for simultaneous real-time identification of background as well as the parameters of an autoregressive moving average model with exogenous inputs (ARMAX model) during adaptive control, a "floating identifier" (FI) approach was developed which may be used with most recursive identification algorithms. This method separates input and output data into low- and high-frequency components. The high-frequency components are used to identify the ARMAX model parameters and the low-frequency components to identify background. This approach was evaluated in computer simulations and animal experiments comparing an adaptive controller coupled to the FI with the same controller coupled to two other standard least squares identifiers. In the animal experiments, sodium nitroprusside was used to control mean arterial pressure of anesthetized dogs in the presence of background changes. Results showed that with the FI, the controller performed satisfactorily, while with the other identifiers, it sometimes failed. It is concluded that the FI approach is useful when applying ARMAX-based adaptive controllers to systems in which a change in background is likely.

Animals↗
PubMed1991

Feedback control methods for task regulation by electrical stimulation of muscles.

Three feedback control algorithms of varying complexity were compared for controlling three different tasks during electrical stimulation of muscles. Two controllers use stimulus pulse width (or recruitment) modulation to grade muscle force (the fixed parameter, first-order PW controller and the adaptive controller). The third controller varies both stimulus pulse width and period simultaneously for muscle force modulation (the PW/SP controller described in the comparison paper). The three tasks tested were isometric torque control, unloaded position tracking, and control of transitions between isometric and unloaded conditions. The first task involved the muscle recruitment nonlinearity. The second task added the effects of muscle length-tension and force-velocity nonlinearities. The third task included a sudden changes in external loading conditions. The comparative evaluation was carried out in an intact cat ankle joint with stimulation of tibialis anterior and medial gastrocnemius muscles. The simplest PW controller demonstrated robust control for all tasks. The PW/SP controller improved the performance of the PW controller significantly for control of isometric torque and load transition, but only slightly for control of unloaded joint position. However, the adaptive controller did not consistently achieve a significant improvement in performance compared with the PW controller for any task. Results suggest that muscle length-tension and force-velocity nonlinearities affect the performance of these controllers similarly within the tested ranges of movement amplitudes and speeds. Abrupt changes in the system, such as those due to recruitment nonlinearity and external loading transitions, tend to limit the performance of the adaptive controller. The study provides guidelines for choosing control algorithms for neural prostheses.

Algorithms↗
PubMed1991

Feedback control of electrically stimulated muscle using simultaneous pulse width and stimulus period modulation.

This paper considers the closed-loop control of electrically stimulated muscle using simultaneous pulse width and frequency modulation. Previous work has experimentally demonstrated good feedback regulation of muscle force using fixed parameter and an adaptive controller modulating pulse width. In this work, it is shown how the addition of pulse frequency modulation to pulse width modulation can improve controller performance. This combination controller has been developed for both single muscle activation and for costimulation of antagonists. This is accomplished using a single command input. In single muscle operation, the combination of pulse width and stimulus pulse frequency modulation results in better control of transient responses than with pulse width modulation alone; the total number of stimulus pulses is increased, however, when compared with pulse width-only modulation at the muscle fusion frequency. In the case of costimulation, the controller modulates the pulse stimulus periods of the antagonists in a reciprocal manner, to ensure stable and fast responses. That is, the frequency of stimulation of the antagonist is increased when that of the agonist is decreased. This results in better control performance with generally fewer stimulus pulses than those generated by costimulation using only pulse width modulation. This feedback controller was evaluated in animal experiments. Step responses with rapid rise times but without overshoot were obtained by the combined modulation. Good steady-state and transient performance were obtained over a wide range of static lengths and commands, under different loading conditions and in different animals. This controller is a promising potential component of neural prostheses to restore functional movement in paralyzed individuals.

Animals↗
PubMed1991

Feedback regulation of hand grasp opening and contact force during stimulation of paralyzed muscle.

A fixed-parameter, discrete-time, first-order, feedback control system is described for regulating grasp during electrical stimulation of paralyzed muscles of the hand. The stiffness of the grasp (relationship between grasp force and grasp opening) is kept constant by linearly combining force and position feedback signals. Thus, a single continuous command signal can control the size of the grasp opening prior to object acquisition and both grasp force and opening after contact. The controller achieves this change in controlled variables by scaling and summing the force and position feedback signals, rather than by a discrete switch in control strategy. Experimental tests of the control system in quadriplegic subjects show that control can be obtained over conditions ranging from unloaded position regulation to isometric force regulation, as well as in the transition between these conditions. The robustness of the control system was evaluated during force regulation with isometric loads. Step response rise time and overshoot were much more dependent on system gain than on the location of the controller zero. Responses with rise time less than two seconds and overshoot less than 30% were obtained over a gain range up to ten, indicating good robustness to muscle gain reductions such as might be caused by fatigue.

Electric Stimulation Therapy↗
PubMed1991

Recursive parameter identification of constrained systems: an application to electrically stimulated muscle.

In the application of real-time identification methods for diagnosis or adaptive control of biomedical systems, there is often known model information that is ignored. Constraints on the allowable values of parameters, which may be based on physical considerations, are often neglected because the information does "fit" easily into commonly used parameter-identification algorithms. In this paper a method of incorporating constraints on model parameters is developed. This method is applicable to most recursive parameter-identification algorithms. It enforces linear equality constraints on identified parameters. The use of this method for the real-time identification of autoregressive moving-average-type time series models, subject to parameter constraints, is described in detail. These constraints may be time varying. At each time step, the parameter estimate obtained by a recursive least squares estimator is orthogonally projected onto the constraint surface. This simple idea, when appropriately executed, enhances the output prediction accuracy of estimated parameters. Using constraint information in this way is important when we do not wish to destroy a "natural" parameterization of the model (by an initial projection to incorporate equality constraints), or when we cannot use a single initial model simplification (because the constraints are time varying or involve inputs and outputs). Because it improves output prediction at future times, this method is advantageous for use in predictive adaptive controllers. The use of this algorithm is demonstrated in the identification of electrically stimulated quadriceps muscles in paraplegic human subjects, using percutaneous intramuscular electrodes. The nonlinear steady-state force versus pulsewidth recruitment characteristic of the electrode-muscle system is identified simultaneously with the input-output muscle response dynamics, using a Hammerstein-type model. Knowledge of the recruitment curve's shape is translated into constraints on the identified parameters. This information improves the experimental predictive quality of the identified model.

Adult↗
PubMed1991

Feedback control of coronal plane hip angle in paraplegic subjects using functional neuromuscular stimulation.

This paper reports on an investigation of feedback control of coronal plane posture in paraplegic subjects who stand using functional neuromuscular stimulation (FNS). A feedback control system directed at regulating coronal plane hip angle in neutral position was designed, implemented, and evaluated in two paraplegic subjects. The control system included sensor mounting and signal processing techniques, a two-stage feedback controller, stimulation hardware, and a set of percutaneous intramuscular electrodes. The feedback controller consisted of two-stages in cascade: a modified discrete-time proportional-integral-derivative (PID) stage and a nonlinear single-input, multiple-output stage to determine the stimulation to be sent to several muscles. The focus of this work was on evaluating the performance of the feedback controller by comparing the response of the feedback-controlled system to that of an open-loop stimulation system. In an evaluation based on temporal response characteristics the controlled system exhibited a 41% reduction in root-mean-squared (rms) error (where error is defined as the deviation from the desired angle), a 52% reduction in steady-state error, and a 22% reduction in hip compliance. In addition, the feedback-controlled system exhibited significant reductions in variability of these measures on several days. These results demonstrate the ability of the feedback controller to improve the temporal response characteristics of the FNS control system.

Diagnosis, Computer-Assisted↗
PubMed1991

Control of end-point forces of a multijoint limb by functional neuromuscular stimulation.

A multivariable feedback controller was designed and tested for regulating the magnitude and orientation of the force vector at the end point of a multijoint limb in contact with an isometric load. The force vector was produced by electrical stimulation of muscles. To achieve arbitrary control of end-point force magnitude and orientation, two coupling issues must be dealt with by the control system. First, there is a geometric coupling between the end-point force vector and joint torques. The amplitude and orientation of the force vector depend on the limb geometry. Second, torques at two joints may be coupled due to activation of muscles that cross them (biarticular coupling). To eliminate the geometric coupling, a transformation of controller error from the Cartesian space to the joint space was employed. A multivariable proportional-plus-integral (PI) control law was used to calculate muscle activation based on the transformed controller error. Centralized and decentralized controls were investigated for decoupling the effects of biarticular muscles. The results obtained from cat experiments showed that the magnitude and orientation of the end-point forces of the cat hindlimb could be regulated by this controller. In the presence of strong biarticular coupling, centralized control yielded better performance than decentralized control during transient responses. Both control strategies could decouple the biarticular muscle at steady state. When no biarticular coupling was present, centralized control sometimes performed worse than decentralized control. This is the first step in the simultaneous control of multiple joints by functional neuromuscular stimulation (FNS). The controller has broad potential applications in FNS neural prostheses.

Animals↗
PubMed1989

Tetanic responses of electrically stimulated paralyzed muscle at varying interpulse intervals.

The influence of stimulus interpulse interval (IPI) on torque output during electrically-evoked contractions was investigated for the knee extensor muscles of paralyzed subjects. The parameters measured were the rise time, magnitude, and relaxation time of the contraction at stimulus IPI's ranging from 62 to 7 ms. Torque output increased as IPI's were decreased from 62 to 15 ms. Peak torques were recorded at IPI's of 12-15 ms; IPI's less than these resulted in an insignificant loss of torque. Rise times decreased as IPI's were decreased. Relaxation time generally increased as IPI's were decreased with the longest relaxation times occurring with stimulation at an IPI of 12 ms. To demonstrate the influence of IPI on muscle fatigue, the effect of prolonged stimulation at short (12 ms) and long (50 ms) IPI's was also compared. After 30 s of stimulation with an IPI of 12 ms, mean torque had declined to 5 +/- 3 percent and after 30 s of stimulation with an IPI of 50 ms, mean torque had declined to 82 +/- 4 percent of the initial value. Knowledge of how stimulus IPI influences the response of paralyzed muscle to electrical stimulation may assist in the development of rehabilitation devices which utilize these technologies.

Electric Stimulation Therapy↗
PubMed1988

Ventricular volume regulation: a mathematical model and computer simulation.

A mathematical model of ventricular volume regulation based on fluid mechanical principles has been constructed using a systems engineering approach. The parameters used in the model are based on clinical observation, laboratory investigation, and presumptions that will be tested later. The model was constructed to be the basis of a computer simulation. Using the computer simulation, information obtained from the literature and laboratory hypotheses regarding pathophysiology, several enigmatic conditions were tested. The model predicted that over-production of cerebrospinal fluid, as in the case of choroid plexus papilloma, could by itself lead to distention of the ventricular system. In simulating pseudotumor cerebri, if cerebrospinal fluid absorption at the arachnoid villi is impaired and the brain itself is rendered incompressible by swelling, intracranial pressure rises and ventricular volume diminishes. Conversely, in normal-pressure hydrocephalus, if cerebrospinal fluid flow is restricted between the spinal and cortical subarachnoid spaces and the brain is made more compressible, the ventricular volume increases with minimal increases in intracranial pressure. This mathematical model and its associated computer simulation is useful in predicting the behavior of the volume of the cerebral ventricles to a variety of pathological phenomena.

Animals↗
PubMed1988

Resistance of the foramen of Monro.

A greyhound dog model was used to study the importance of the foramen of Monro as a resistance element to the flow of cerebrospinal fluid (CSF). Normal dogs had no pressure differential discernible despite the infusion of artificial CSF into one lateral ventricle. When CSF was withdrawn from one lateral ventricle, however, 7 of 10 dogs showed intraventricular pressure differentials at a steady state of 3.28-5.37 mm Hg. All normal dogs undergoing rapid bolus withdrawal of CSF from the ventricles developed pressure differentials. When these experiments were performed on hydrocephalic dogs, no pressure differential could be recorded. The foramen of Monro acts as a valve mechanisms that usually closes in response to CSF withdrawals.

Animals↗
PubMed1988

Relationship between intracranial and sagittal sinus pressure in normal and hydrocephalic dogs.

The relationship between intracranial and sagittal sinus pressure in normal and kaolin-induced hydrocephalic greyhounds was examined. In normal dogs there was an average 14 mm Hg pressure difference between the ventricles and the sagittal sinus. Elevations of intraventricular pressure were accompanied by small but consistent elevations in sagittal sinus pressure. In hydrocephalic dogs the average pressure differential was only 2 mm Hg. Also elevations of intraventricular pressure were accompanied by greater elevations in sagittal sinus pressures than those seen in normal dogs. The volume-buffering capacity of the sagittal sinus was decreased, and sinography revealed filling of unusual venous collaterals in hydrocephalic dogs--both suggesting an increased resistance to outflow in the sagittal sinus.

Animals↗