Wireless Distributed Architecture for Therapeutic FES: Metrology for muscle control

Mickael Toussaint 1, 2 David Andreu 1, 2 Philippe Fraisse 2
2 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This paper presents a Functional Electro-Stimulation distributed architecture based on a wireless network, for therapeutic training of disabled patients. On this distributed architecture, the movement (of disabled members) is artificially controlled by means of a global controller which pilots a set of stimulation units. The closed loop control system we developed for controlling muscle is based on a high order sliding mode method. In such wireless network-based control, the variable delay introduced by the network must be taken into account to ensure the stability of the closed loop. Thus, in order to characterize the medium on which the control is performed, we carried out accurate measurements of the architecture performances (stack-crossing, round-trip time, etc.). We then propose the use of a Kalman filter to predict the communication delay evolution, with the aim to exploit it within the closed loop control.
Type de document :
Communication dans un congrès
IFAC-WC'08: 17th World Congress of International Federation of Automatic Control, Jul 2008, Seoul, Korea, pp.6, 2008, 〈http://www.ifac2008.org/〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00320474
Contributeur : David Andreu <>
Soumis le : jeudi 11 septembre 2008 - 09:38:19
Dernière modification le : jeudi 24 mai 2018 - 15:59:23

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  • HAL Id : lirmm-00320474, version 1

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Mickael Toussaint, David Andreu, Philippe Fraisse. Wireless Distributed Architecture for Therapeutic FES: Metrology for muscle control. IFAC-WC'08: 17th World Congress of International Federation of Automatic Control, Jul 2008, Seoul, Korea, pp.6, 2008, 〈http://www.ifac2008.org/〉. 〈lirmm-00320474〉

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