11th Joint Seminar on Rehabilitation Engineering and Assistive Technology
Neural Electronic Engineering Laboratory Division of Biomedical Engineering for Health and Welfare Graduate School of Biomedical Engineering Tohoku University Sendai, Japan
Biocybernetics Laboratory Department of Biomedical Engineering Institut Teknologi Sepuluh Nopember (ITS) Surabaya, Indonesia
Schedule: Date: June 25, 2025 Time: 14.30 Surabaya /16.30 Sendai
Link: https://its-ac-id.zoom.us/j/92297000456?pwd=77YCRNOLGjKweDQ4QguA22HZ6tEuZ0.1
Meeting ID: 922 9700 0456 Passcode: 327984
Presentation list:
(1) A study on Model Simulation Test of FES Control Method with Dynamic Co-contraction Modulation of Reaching Movement Kei Nakayoshi1, Takashi Watanabe2 1. Graduate School of Engineering, Tohoku University, Sendai, Japan 2. Graduate School of Biomedical Engineering, Tohoku University, Sendai, Japan
(2) Hybrid Functional Electrical Stimulation (FES) and Exoskeleton Rehabilitation for Multi Joint Movement Restoration with Fuzzy Coactivation Model Mohammad Rayhan Amirul Haq Siregar1, Achmad Arifin1, Muhammad Adib Syamlan1, Andra Risciawan2, Muhammad Lukman Hakim3 1. Biomedical Engineering Department, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia 2. Manufaktur Robot Industri (MRI), Surabaya, Indonesia 3. Industrial Mechanical Engineering Department, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia
(3) A Model Simulation Test of Extremum Seeking-based Adaptive Feedback Controller on FES Control of the Elbow Joint Markus Haukipää, Takashi Watanabe Graduate School of Biomedical Engineering, Tohoku University, Sendai, Japan
(4) Design and Development of a Non-Contact Indoor Navigation Assistance Device Based on Ultra-Wideband Radar for Visually Impaired Individuals with A* Algorithm. Muhammad Ariq Syamlan, Achmad Arifin, Muhammad Adib Syamlan Biomedical Engineering Department, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia
Presentation Guideline: Presentation duration: 15 minutes Discussions: 5 minutes
A study on Model Simulation Test of FES Control Method with Dynamic Co-contraction Modulation of Reaching Movement
Kei Nakayoshi1, Takashi Watanabe2 1 Graduate School of Engineering, Tohoku University, Sendai, Japan 2 Graduate School of Biomedical Engineering, Tohoku University, Sendai, Japan
Abstract
In movement control by functional electrical stimulation (FES), it is an important issue to solve the problem of trade-off between energy efficiency and accuracy of movement control. A previously proposed FES control method with dynamic modulation of the co-contraction level of antagonistic muscle pairs during movement used a look-up table that determines the stimulation intensity from the co-contraction level and the target angle determined from the current position. However, the method showed a different trajectory from those of healthy subjects, and it required many preliminary stimulations. This study aimed to develop a new FES control method based on the previously proposed FES control method with dynamic modulation of the co-contraction level. In this seminar, we report validation tests using model simulation to clarify problems of the previous control method. First, the control algorithm was examined under four conditions, including the assumption that errors occur in movements during FES control. The result showed that this control method could achieve reaching movement while compensating for some errors. However, it was found that the controllable range was limited by the distance between the start and target points of the reaching movement, suggesting the possibility of loss of control depending on the control error. Next, control performance was examined in controlling reaching movement by FES under 2 fixed co-contraction levels of the antagonist muscle pairs (0% and 4%), in which stimulation intensities were determined by lookup tables. The results showed that control became impossible when the distance from the target point to the fingertip position became greater than the distance from the target point to the starting point of the reaching movement. It also suggested that higher co-contraction level realizes to approach the target point reducing rapid change.
Hybrid Functional Electrical Stimulation (FES) and Exoskeleton Rehabilitation for Multi Joint Movement Restoration with Fuzzy Coactivation Model
Mohammad Rayhan Amirul Haq Siregar1, Achmad Arifin1, Muhammad Adib Syamlan1, Andra Risciawan2, Muhammad Lukman Hakim3 1Biomedical Engineering Department, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia 2Manufaktur Robot Industri (MRI), Surabaya, Indonesia
Stroke represents a major cause of motor disability worldwide, affecting over two-thirds of survivors who develop upper limb impairments that severely compromise their ability to perform daily activities. We present a novel hybrid rehabilitation system that integrates Functional Electrical Stimulation (FES) with fuzzy co-activation model and a robotic exoskeleton for two joint upper limb movements. With this system FES can activate agonist and antagonist muscles together, mimicking how healthy muscles naturally are coordinated. The exoskeleton incorporates multiple actuators to enable more comprehensive shoulder movement rehabilitation compared to single-plane motion systems. The exoskeleton guides subject movements through simultaneous adduction-abduction and supination-pronation exercises across 90° and 60° motion ranges respectively, using programmed sinusoidal trajectories controlled by embedded Proportional Controller. Electrical stimulation of sub-threshold intensity of four muscles, Deltoid Lateral, Latissimus Dorsi, Biceps Brachii, and Pronator Teres for abduction-adduction and pronation-supination movements, were calculated by fuzzy co-activation map. This rehabilitation system was tested with healthy subjects to establish performance evaluation in enhancing post stroke subjects, before further clinical trial.
A Model Simulation Test of Extremum Seeking-based Adaptive Feedback Controller on FES Control of the Elbow Joint
Markus Haukipää, Takashi Watanabe Graduate School of Biomedical Engineering, Tohoku University, Sendai, Japan
Stroke significantly impacts upper limb functionality in survivors, with up to 70% affected. Functional Electrical Stimulation (FES) is used in rehabilitation to regain muscle control by artificially stimulating muscles to induce movement. Due to the non-linear and inconsistent nature of FES, precise and deterministic control is difficult to achieve —despite it being the key to faster recovery. Therefore, an adaptive feedback controller, consisting of a Proportional-Integral (PI) controller and a stochastic extremum seeking algorithm, is proposed. The goal is to form a comprehensive and repeatable testing platform to challenge the adaptive controller’s capability to broaden the understanding of its applications. Owing to the goal, the controller, as well as the testing platform, is wholly executed in software. The tests focused on the adaptive controller’s performance, in comparison to a fixed PI controller, in continuous excitation, covering demanding movement patterns and fluctuating non-linear characteristics. The adaptive controller demonstrated promising improvements in performance versus the fixed PI controller. However, aiming to maximize convergence while maintaining stability, the system itself introduces complications on performance, consistency, and stability. This is due to the adaptive controller’s performance being orchestrated by a stochastic process controlled by the tuning of its own parameters. Regardless, the adaptive algorithm shows capability of adapting the PI controller efficiently in a non-linear environment despite its non-established tuning requirements. For instance, it may present a possible base for future hybrid controllers as the low frequency feedback controller — controlling the adaptation of the future’s healthcare.
Design and Development of a Non-Contact Indoor Navigation Assistance Device Based on Ultra-Wideband Radar for Visually Impaired Individuals with A* Algorithm
Muhammad Ariq Syamlan, Achmad Arifin, Muhammad Adib Syamlan Biomedical Engineering Department, Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia
One of the main challenges in carrying out daily tasks for people with vision impairments is mobility, especially in indoor rooms. GPS systems commonly used for outdoor navigation for visually impaired individuals have significant limitations for indoor applications, such as weak satellite signal penetration into buildings and low accuracy (5-10 meters). Traditional assistive tools such as canes or guide dogs also have limitations in terms of range and flexibility, necessitating more effective solutions to help the visually impaired navigate independently in indoor environments. In this research, a non-contact assistive device is developed that utilizes Ultra-Wideband (UWB) radar technology for indoor positioning, as well as an Inertial Measurement Unit (IMU) to provide directional orientation. The system implements double-sided two-way ranging (DS-TWR) to measure time-of-flight between anchors and a mobile tag, achieving a distance measurement RMSE of 0.10564 meters between a single tag and anchor. For optimal path planning, the implemented A* algorithm demonstrates efficient performance with 44.5% grid coverage, ensuring rapid and reliable route calculation for real-time navigation applications. In this research, the device to be created will be equipped with an obstacle detection system that enables the device to automatically plan the shortest and safest path for users by avoiding obstacles. Additionally, the intended device has haptic sensors that give the user tactile sensation. It is anticipated that this device design will enable the sight impaired to move more freely and successfully across indoor spaces. The result of this research is the development of a safe and reliable assistive device prototype that can improve the quality of life and independence of visually impaired individuals.
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