Neuroprosthesis System Utilizing Optical Spatial Feedback Control

摘要

The development of a neuroprosthesis system utilizing spatial feedback control is presented in this project final report. During this phase, the RobotEyes (TradeMark) Functional Electrical Stimulation System (REFES) was developed as an intelligent vision based system. The system has capabilities in image capture and processing within a related small working environment. The working environment can be a fixed working table or a platform that satisfies varied conditions. The successful development of the REFES System during this phase is in fact a result of the application of a collection of advanced technologies that include real time image capture and processing, 3D surface reconstruction, 3D modeling and target recognition, camera calibration, robot control, intelligent trajectory planning, obstacle identification and avoidance, dynamic system identification, motion recovery and prediction, and position feedback control. The capabilities that REFES System provide is an effective user interface and optical spatial feedback controller for a neuroprosthesis for individuals with high tetraplegia resulting from high cervical spinal cord injury. It also provides for the command interface for rehabilitation robots that are commonly used by individuals with high tetraplegia, muscular dystrophy, amyotrophic lateral sclerosis (i.e., 'Lou Gehrig's disease'), and other nerological or musculoskeletal disease.