The development of a model reference adaptive controller to control the knee joint of paraplegics
- 1 June 1991
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 36 (6) , 683-691
- https://doi.org/10.1109/9.86942
Abstract
Functional neuromuscular stimulation is a technique for restoring motor function by directly activating paralyzed muscles. The design and development of closed-loop controllers that, when used in a simulation system, achieve regulated, repeatable control of the lower limb joints is discussed. Models describing the dynamic behavior of the unloaded lower limb joints under electrical stimulation are described. These models consist of a nonlinear part followed by linear dynamics described by deterministic autoregressive moving average (ARMA) models. These models are used in the design of an adaptive controller to control the movement of the leg joints. Design requirements including a severe constraint on the control rate so as not to excite spastic reflexes, are formulated, and a model reference adaptive controller design which was modified and implemented is discussed.Keywords
This publication has 9 references indexed in Scilit:
- A Model Reference adaptive Controller to control the Knee Joint of ParaplegicsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Comments on "Design and Evaluation of Digital Closed Loop Controller for the Regulation of Muscle Force by Recruitment Modulation"IEEE Transactions on Biomedical Engineering, 1987
- Adaptive Control of Electrically Stimulated MuscleIEEE Transactions on Biomedical Engineering, 1987
- FNS Parameter Selection and Upper Limb CharacterzationIEEE Transactions on Biomedical Engineering, 1986
- FNS Control Schemes for the Upper LimbIEEE Transactions on Biomedical Engineering, 1986
- Design and Evaluation of a Digital Closed-Loop Controller for the Regulation of Muscle Force by Recruitment ModulationIEEE Transactions on Biomedical Engineering, 1985
- Cerebellar Stimulation for SpasticityIEEE Engineering in Medicine and Biology Magazine, 1983
- TECHNIQUES OF SELF‐TUNINGOptimal Control Applications and Methods, 1982
- Unification of discrete time explicit model reference adaptive control designsAutomatica, 1981