TY - GEN
T1 - An optimal control problem in closed-loop neuroprostheses
AU - Kumar, Gautam
AU - Aggarwal, Vikram
AU - Thakor, Nitish V.
AU - Schieber, Marc H.
AU - Kothare, Mayuresh V.
PY - 2011
Y1 - 2011
N2 - A control-theoretic study of complex systems such as closed-loop neural prostheses exhibits several challenges, from the design of an optimal feedback control problem to its solution. In this paper we study one such system, a closed-loop voluntary movement of a prosthetic finger using electrophysio- logical activities of a single cortical motor neuron. We develop an optimal feedback control problem in the nonlinear receding horizon based terminal set constraint framework. We analyze the feasibility and stability of the control problem. Further, we solve the control problem numerically by implementing a local optimum based nonconvex nonlinear programming algorithm. Finally, we study effects of visual and proprioceptive feedback pathways on the closed-loop system. Our results elucidate the importance of multiple feedback paths in designing a closed-loop neural prosthetic system.
AB - A control-theoretic study of complex systems such as closed-loop neural prostheses exhibits several challenges, from the design of an optimal feedback control problem to its solution. In this paper we study one such system, a closed-loop voluntary movement of a prosthetic finger using electrophysio- logical activities of a single cortical motor neuron. We develop an optimal feedback control problem in the nonlinear receding horizon based terminal set constraint framework. We analyze the feasibility and stability of the control problem. Further, we solve the control problem numerically by implementing a local optimum based nonconvex nonlinear programming algorithm. Finally, we study effects of visual and proprioceptive feedback pathways on the closed-loop system. Our results elucidate the importance of multiple feedback paths in designing a closed-loop neural prosthetic system.
UR - http://www.scopus.com/inward/record.url?scp=84860663091&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84860663091&partnerID=8YFLogxK
U2 - 10.1109/CDC.2011.6161428
DO - 10.1109/CDC.2011.6161428
M3 - Conference contribution
AN - SCOPUS:84860663091
SN - 9781612848006
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 53
EP - 58
BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Y2 - 12 December 2011 through 15 December 2011
ER -