Functional electrical stimulation (FES) is an effective rehabilitation tool for gait retraining for individuals suffering from various neurological disorders. Traditionally, FES is only delivered to activate ankle dorsiflexor muscles during the swing phase of the gait to correct “foot drop”. Recent research indicates that improved functional ambulation can be achieved by delivering FES to both the plantarflexor and dorsiflexor muscles during gait. Closed-loop electrical stimulation has the potential to yield positive rehabilitative outcomes by enabling accurate and precise limb motions during gait retraining. Naturally, the motion of ankle during gait is an event-driven system combining continuous evolution of the angle between the foot and shank, alternate moving segments of the foot and shank, and alternate activation of the plantarflexor and dorsiflexor muscles. A switched sliding mode based controller is developed to ensure that the ankle tracks a designed or recorded normal trajectory during gait which can be used for gait retraining. Semi-global asymptotic tracking of the hybrid controller is analyzed using multiple Lyapunov functions and the performance is illustrated through simulations.
- Dynamic Systems and Control Division
Hybrid Electrical Stimulation Tracking Control of the Ankle
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Wang, Q, Kamalapurkar, R, Downey, R, & Dixon, WE. "Hybrid Electrical Stimulation Tracking Control of the Ankle." 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. 511-517. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8683
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