Physiological Musculoskeletal Model Identification for the Lower Limbs Control of Paraplegic Under Implanted FES

Mourad Benoussaad 1 David Guiraud 1 Philippe Poignet 1
1 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 concerns the whole physiological parameters identification of a musculoskeletal model of a human subject. The patient is equipped with an implanted Functional Electrical Stimulation (FES) system as part of the SUAW's European project [1]. The biomechanical model represents the knee and its associated muscles. The identification protocol is noninvasive and based on the in-vivo experimental data acquisition of a Spinal Cord Injured (SCI) patient. However, the human noninvasive identification poses problems of naccessibility to some data. The identification procedure consists of several steps, in order to identify: the anthropometrical parameters, the geometrical parameters, the joint mechanical parameters, the force-length relationship and the recruitment function. Up to now, only the quadriceps muscle is considered with the knee joint in the identification procedure. A cross-validation has been done using data set not used during the identification process. The identified model shows a satisfactory response comparing to the measured knee response, which is obtained by stimulating the quadriceps through the implanted FES system. In this work, knee model-parameters of the implanted subject were identified successfully using the noninvasive identification procedure.
Type de document :
Communication dans un congrès
IROS'09: International Conference on Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.3549-3554, 2009, 〈http://www.iros09.mtu.edu/index.php/IROS_2009:_The_2009_IEEE/RSJ_International_Conference_on_Intelligent_RObots_and_Systems〉. 〈10.1109/IROS.2009.5354348〉
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00413447
Contributeur : Mourad Benoussaad <>
Soumis le : vendredi 4 décembre 2009 - 07:00:06
Dernière modification le : jeudi 24 mai 2018 - 15:59:23
Document(s) archivé(s) le : mardi 15 juin 2010 - 21:25:55

Fichier

IROS09_N1019.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

Mourad Benoussaad, David Guiraud, Philippe Poignet. Physiological Musculoskeletal Model Identification for the Lower Limbs Control of Paraplegic Under Implanted FES. IROS'09: International Conference on Intelligent RObots and Systems, Oct 2009, St. Louis, MO, United States. pp.3549-3554, 2009, 〈http://www.iros09.mtu.edu/index.php/IROS_2009:_The_2009_IEEE/RSJ_International_Conference_on_Intelligent_RObots_and_Systems〉. 〈10.1109/IROS.2009.5354348〉. 〈lirmm-00413447〉

Partager

Métriques

Consultations de la notice

666

Téléchargements de fichiers

274