Using Orientation Sensors to Control a FES System for Upper-Limb Motor Rehabilitation

Contralaterally controlled functional electrical stimulation (CCFES) is a recent therapy aimed at improving the recovery of impaired limbs after stroke. For hemiplegic patients, CCFES uses a control signal from the non-impaired side of the body to regulate the intensity of electrical stimulation delivered to the affected muscles of the homologous limb on the opposite side of the body. CCFES permits an artificial muscular contraction synchronized with the patient’s intentionality to carry out functional tasks, which is a way to enhance neuroplasticity and to promote motor learning. This work presents an upper extremity motor rehabilitation system based on CCFES, using orientation sensors for control. Thus, the stimulation intensity (current amplitude) delivered to the paretic extremity is proportional to the degree of joint amplitude of the unaffected extremity. The implemented controller uses a control strategy that allows the delivered electrical stimulation intensity, to be comparable to the magnitude of movement. It was carried out a set of experiments to validate the overall system, for executing five bilateral mirror movements that include human wrist and elbow joints. Obtained results showed that movements voluntary signals acquired from right upper-limb were replicated successfully on left upper-limb using the FES system.