One of the major limitations of functional electrical stimulation (FES) is the rapid onset of muscle fatigue. Minimizing stimulation is the key to decreasing the adverse effects of muscle fatigue caused by FES. Optimal control can be used to compute the minimum amount of stimulation necessary to produce a desired motion. In this paper, a gradient projection-based model predictive controller is used for an approximate optimal control of a knee extension neuroprosthesis. A control Lyapunov function is used as a terminal cost to ensure stability of the model predictive control.

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