The application of functional electrical stimulation (FES) to muscles quickly fatigues them. Our research goal is to determine the optimal control of FES signals that delay the fatigue for as long as possible. In this research we have used a physiology-based mathematical model of muscle fatigue, to study the behaviour of a musculoskeletal system during a prolonged exercise. To solve the redundant problem of muscle force sharing, we have used a time-dependent fatigue minimization objective instead of the usual activation-based minimization criteria. Our results showed that muscle co-activation, as seen in natural human motion, does not necessarily minimize muscle fatigue.

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