Addition Of Closed Loop Stiffness Regulation To An Open Loop Hand Grasp Neuroprosthesis

A closed loop stiffness regulation system is incorporated into a neuroprosthesis for hand grasp for quadriplegic patients. The open loop neuroprosthesis controls the open loop channels of stimulation while a digital computer controls the closed loop channels. An automated tuning procedure adjusts the parameters of the system to provide a stable and rapid response under isometric, compliant, and unloaded conditions.