Robust control of knee-joint motion

Schauer, T., Hunt, K.J., Ronchi, A., Fraser, M.H. and Stewart, W. (2001) Robust control of knee-joint motion. In: Proceedings of the 6th Annual Conference of the International Functional Electrical Stimulation Society, Cleveland, Ohio, 17 - 20 June 2001, pp. 232-234.

Abstract

This study is investigating a new methodology for training the quadriceps muscles of paraplegics using Functional Electrical Stimulation (FES). The stimulation pattern is automatically adjusted by robust closed-loop control based on estimated linear models of the knee-joint dynamics in order to generate a desired movement pattern. Identification and controller design are carried out at the start of each training session to take into account the day-to-day variation of the neuro-musculoskeletal system. Tests with paraplegic subjects show that robustness against changing muscle properties due to fatigue and external/internal disturbances was achieved while stability is guaranteed. The proposed procedure also allows observation of long term changes in the muscle dynamics during the FES exercising as dynamical models are produced continuously. Simplicity and rapid controller tuning are key features of this approach.

• Item Type: Conference Proceedings
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Stewart, Dr William
• Authors: Schauer, T., Hunt, K.J., Ronchi, A., Fraser, M.H., and Stewart, W.
• Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering; Q Science > QP Physiology
• College/School: College of Science and Engineering > School of Engineering > Systems Power and Energy