H-infinity robust control design for unsupported paraplegic standing: experimental evaluation

Holderbaum, W., Hunt, K.J. and Gollee, H. (2002) H-infinity robust control design for unsupported paraplegic standing: experimental evaluation. Control Engineering Practice, 10(11), pp. 1211-1222. (doi: 10.1016/S0967-0661(02)00082-5)

Abstract

This paper is concerned with the design of robust feedback H- infinity-control systems for the control of the upright posture of paraplegic persons standing. While the subject stands in a special apparatus, stabilising torque at the ankle joint is generated by electrical stimulation of the paralyzed calf muscles. Since the muscles acting as actuators in this setup show a significant degree of nonlinearity, a robust H-infinity- control design is used. The design approach is implemented in experiments with a paraplegic subject. The results demonstrate good performance and closed loop stability over the whole range of operation.

• Item Type: Articles
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Hunt, Prof Kenneth and Gollee, Dr Henrik
• Authors: Holderbaum, W., Hunt, K.J., and Gollee, H.
• Subjects: R Medicine > R Medicine (General)
• College/School: College of Science and Engineering > School of Engineering > Systems Power and Energy; College of Science and Engineering > School of Engineering > Biomedical Engineering
• Journal Name: Control Engineering Practice
• Publisher: Elsevier Science B.V.
• ISSN: 0967-0661