Controlling a FES-EXOSKELETON rehabilitation system by means of brain-computer interface

This paper presents the analysis and the implementation of a robotic rehabilitation device which couples a Brain-Computer Interface (BCI) and a robotic FES (Functional Electrical Stimulation)-exoskeleton system for upper limb rehabilitation of persons with neuromotor disabilities. This system combines two types of therapies used in neurorehabilitation: one using functional electrical stimulation and one using movements driven by an electrically powered exoskeleton. FES can coordinate the activation of certain muscle groups having as result movements which are similar to the normal ones. The main goal of this system is to allow people with disabilities to reach and maintain an optimal physical function. The FES-exoskeleton device is controlled by a BCI system. The control strategy of the entire system was implemented in MATLAB&Simulink environment. BCI technology involves monitoring the brain electrical activity and detecting special characteristics of EEG (electroencephalogram) using advanced signal processing algorithms. The BCI principle used for controlling the developed system is the Motor Imagery (MI). By imagining the left or right arm movement, the user can control the FES-exoskeleton system to perform forearm flexion and extension and hand opening.