Nonlinear model predictive control of functional electrical stimulation
TLDR
A gradient projection-based model predictive controller is presented for optimal control of a knee extension elicited via FES and results show that the algorithm can be implemented in real-time with a steady-state RMS error of less than 2°.About:
This article is published in Control Engineering Practice.The article was published on 2017-01-01 and is currently open access. It has received 63 citations till now. The article focuses on the topics: Control theory & Functional electrical stimulation.read more
Citations
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Journal ArticleDOI
Model-based Dynamic Control Allocation in a Hybrid Neuroprosthesis
TL;DR: A model predictive control-based dynamic control allocation (DCA) is used to allocate control between FES and the electric motor that simultaneously maintain a desired knee angle and validate the hybrid technology’s potential use in walking rehabilitation.
Journal ArticleDOI
A Control Scheme That Uses Dynamic Postural Synergies to Coordinate a Hybrid Walking Neuroprosthesis: Theory and Experiments.
TL;DR: A muscle synergy-inspired control framework is used to derive the controller and is motivated mainly to address the actuator redundancy issue and was demonstrated experimentally on an able-bodied subject and person with an incomplete spinal cord injury.
Journal ArticleDOI
Feedback Control of Functional Electrical Stimulation for 2-D Arm Reaching Movements
TL;DR: A feedback controller for a multi-muscle FES system to control hand movements in a 2-D task space based on a recent human motor control model, which uses muscle synergies to simplify its calculations and improve the performance.
Proceedings ArticleDOI
MPC-PID comparison for controlling therapeutic upper limb rehabilitation robot under perturbed conditions
TL;DR: A 3 degree of freedom (3DOF) upper limb rehabilitation robot has been developed to recover the patient who have impaired limb, physical trauma or hit by a stroke.
Journal ArticleDOI
Robust nonlinear control schemes for finite-time tracking objective of a 5-DOF robotic exoskeleton
TL;DR: It is proven that all suggested schemes of control inputs (input torques) accomplish and provide the mentioned tracking objective accurately and several new formulas are derived to determine and tune the needed finite times for achieving the tracking objective.
References
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Journal ArticleDOI
A Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability
Hong Chen,Frank Allgöwer +1 more
TL;DR: It is proved that feasibility of the open-loop optimal control problem at time t = 0 implies asymptotic stability of the closed-loop system.
Journal ArticleDOI
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Aaron M. Dollar,Hugh M. Herr +1 more
TL;DR: The history and state of the art of lower limb exoskeletons and active orthoses are reviewed and a design overview of hardware, actuation, sensory, and control systems for most of the devices that have been described in the literature are provided.
Journal ArticleDOI
Terminals of single Ia fibers: location, density, and distribution within a pool of 300 homonymous motoneurons.
Lorne M. Mendell,Elwood Henneman +1 more
Book
Functional Electrical Stimulation: Standing and Walking After Spinal Cord Injury
A. Kralj,Tadej Bajd +1 more
TL;DR: This chapter discusses Muscle Restrengthening and Patient Conditioning, FES Ambulation Program in Incomplete SCI Patients, and FES-Ass Walk-ing in Complete SCI patients.
Journal ArticleDOI
Tube-based robust nonlinear model predictive control
TL;DR: In this article, a tube-based model predictive control of linear systems is proposed to achieve robust control of nonlinear systems subject to additive disturbances, where the local linear controller is replaced by an ancillary model predictive controller that forces the trajectories of the disturbed system to lie in a tube whose center is the reference trajectory.