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. 解讀2017年國際帕金森病和運動障礙學會震顫工作組共識聲明之震顫的分類. 世界臨床藥物, 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, 牛朝詩, 熊赤, 等. 蒼白球或丘腦毀損術后帕金森病腦深部電刺激術療效分析及策略. 中國現代神經疾病雜志, 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.	李嘉瑩, 趙麗, 邊琰, 等. 電刺激輔助下肢運動想象特征分類以增強康復訓練研究. 生物醫學工程學雜志, 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.	張偉, 張定國, 劉建榮. 基于功能性電刺激的腕關節多自由度震顫抑制仿真研究. 生物醫學工程學雜志, 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. 解讀2017年國際帕金森病和運動障礙學會震顫工作組共識聲明之震顫的分類. 世界臨床藥物, 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, 牛朝詩, 熊赤, 等. 蒼白球或丘腦毀損術后帕金森病腦深部電刺激術療效分析及策略. 中國現代神經疾病雜志, 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. 李嘉瑩, 趙麗, 邊琰, 等. 電刺激輔助下肢運動想象特征分類以增強康復訓練研究. 生物醫學工程學雜志, 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. 張偉, 張定國, 劉建榮. 基于功能性電刺激的腕關節多自由度震顫抑制仿真研究. 生物醫學工程學雜志, 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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