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| HAL: lirmm-00637760, version 1 |
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| IROS'11: IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco : États-Unis |
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| Dual Predictive Control of Electrically Stimulated Muscle using Biofeedback for Drop Foot Correction |
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Mitsuhiro Hayashibe 1, 2Qin Zhang 1, 2 |
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| (2011-09-26) |
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| Electrical stimulation (ES) is one of the solutions for drop foot correction. Conventional ES systems deliver predefined stimulation pattern to the affected muscles. However, timevariant muscle response may influence the gait performance as they are difficult to be taken into account in advance. Therefore, closed-loop ES control is important to obtain desired gait in presence of muscle response variation. In this work, a dual predictive control, which consists of two nonlinear generalized predictive controllers, is proposed to track desired torque. The stimulated muscle dynamics are modeled by Hammerstein cascades, with one representing stimulation to activation, the other representing activation to torque. Ankle dorsiflexion torque and ES-evoked EMG of tibialis anterior were recorded experimentally for model identification. The control scheme is validated by following desired torque trajectories with the identified model. The results show that the stimulation pattern obtained from the dual predictive control can produce good torque tracking according to the current muscle condition. |
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| 1: | DEMAR (INRIA Sophia Antipolis) |
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INRIA – CNRS : UMR5506 – Université Montpellier II - Sciences et Techniques du Languedoc – Université Montpellier I |
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| 2: | Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM) |
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CNRS : UMR5506 – Université Montpellier II - Sciences et Techniques du Languedoc |
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| ROB-MIC/DEMAR : DEambulation et Mouvement ARtificiel |
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| Subject | : | Life Sciences/Bioengineering Computer Science/Modeling and Simulation |
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| Attached file list to this document: | |||||
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| lirmm-00637760, version 1 | |
| http://hal-lirmm.ccsd.cnrs.fr/lirmm-00637760 | |
| oai:hal-lirmm.ccsd.cnrs.fr:lirmm-00637760 | |
| From: Mitsuhiro Hayashibe | |
| Submitted on: Wednesday, 2 November 2011 18:23:46 | |
| Updated on: Friday, 4 November 2011 11:34:11 | |
