Towards a Co-contraction Muscle Control Strategy For Paraplegics

Samer Mohammed 1 Philippe Fraisse 1 David Guiraud 1 Philippe Poignet 2 Hassan El Makssoud 3
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Functional electrical stimulation (FES) can help in regaining limited locomotor activities in humans with paraplegia through electrical stimulation of the lower extremity muscles, mainly the quadriceps and hamstrings. Closed loop position control of a flexion-extension knee under (FES) based on a high order sliding mode techniques has been presented. Stimulation currents amplitude were assessed via a variable structure control systems (VSCS). Special attention is given to a 2-sliding (Prescribed convergence law) control algorithm. The controller was used to control shank movement and has shown a robustness against force perturbation as well as high capability of tracking a pre-defined reference trajectory. Co-contraction of the antagonistic muscles, basically quadriceps and hamstrings, may yield an increasing joint stiffness and a stable movement. The redundancy of two muscles spanning the knee joint in co-contraction, is solved by a linear minimization of the sum of the stress in the antagonistic muscles.
Keywords : FES
Type de document :
Communication dans un congrès
CDC: Conference on Decision and Control, Dec 2005, Seville, Spain. 44th IEEE Conference on Decision and Control, pp.7428-7433, 2005, 〈10.1109/CDC.2005.1583360〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00106120
Contributeur : Christine Carvalho de Matos <>
Soumis le : vendredi 13 octobre 2006 - 10:23:15
Dernière modification le : jeudi 11 janvier 2018 - 17:00:55

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Samer Mohammed, Philippe Fraisse, David Guiraud, Philippe Poignet, Hassan El Makssoud. Towards a Co-contraction Muscle Control Strategy For Paraplegics. CDC: Conference on Decision and Control, Dec 2005, Seville, Spain. 44th IEEE Conference on Decision and Control, pp.7428-7433, 2005, 〈10.1109/CDC.2005.1583360〉. 〈lirmm-00106120〉

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