Dual Predictive Control of Electrically Stimulated Muscle using Biofeedback for Drop Foot Correction

Mitsuhiro Hayashibe 1, * Qin Zhang 1 Christine Azevedo Coste 1
* Corresponding author
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : 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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Mitsuhiro Hayashibe, Qin Zhang, Christine Azevedo Coste. Dual Predictive Control of Electrically Stimulated Muscle using Biofeedback for Drop Foot Correction. IROS: Intelligent RObots and Systems, Sep 2011, San Francisco, United States. pp.1731-1736, ⟨10.1109/IROS.2011.6094978⟩. ⟨lirmm-00637760⟩

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