The presented work addresses the implementation of Functional Electrical Stimulation (FES) into a closed-loop control system as a means of rehabilitation for patients with spinal cord injury (SCI). FES is a neuroprothesis technique applied to reinnervate the motor function in affected muscles. In clinical settings, FES is applied via an open-loop system which is not an efficient approach. Therefore, this study focuses on experimentally applying two model-free feedback controllers: a Proportional-Integral (PI) controller and a Model Reference Adaptive Control (MRAC) algorithm. A comparative study evaluating these controllers is carried out in vitro mimicking the knee-joint tracking system. The experimental setup is composed of a muscle-mass-spring system where the muscle is stimulated while forces are measured and the muscle position is tracked. Thus, the muscle’s instantaneous position is used as feedback signal. Consequently, the effectiveness of both controllers is evaluated to develop improved strategies for the system’s tracking.
- Dynamic Systems and Control Division
Skeletal Muscle Contraction in Feedback Control
Jaramillo, P, Shoemaker, A, Leonessa, A, & Grange, RW. "Skeletal Muscle Contraction in Feedback Control." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 483-492. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8592
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