In this paper, an adaptive block backstepping controller is developed for stimulation of agonist-antagonist muscles by using Functional Electrical Stimulation (FES). FES is an alternative method that stimulates a paralyzed muscle in lieu of inactive motor neurons, which was first implemented in the 1960s (). However, many challenges need to be addressed before clinical trials with Spinal Cord Injury (SCI) patients can be performed, which include designing a controller, modeling muscles, developing interface equipment, just to mention a few. To contribute to the FES control field, a nonlinear controller and its evaluation through a computer simulation are presented.
- Dynamic Systems and Control Division
An Adaptive Block Backstepping Control Design for Functional Electrical Stimulation of Agonist-Antagonist Muscles
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Koo, B, & Leonessa, A. "An Adaptive Block Backstepping Control Design for Functional Electrical Stimulation of Agonist-Antagonist Muscles." Proceedings of the ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2. Arlington, Virginia, USA. October 31–November 2, 2011. pp. 479-486. ASME. https://doi.org/10.1115/DSCC2011-6143
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