Toward Lower Limbs Movement Restoration with Input-Output Feedback Linearization and Model Predictive Control Through Functional Electrical Stimulation

Samer Mohammed 1 Philippe Poignet 1, 2 Philippe Fraisse 1, 3 David Guiraud 1, *
* Auteur correspondant
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
3 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Functional electrical stimulation (FES) is used to excite paralyzed muscles that are no longer controlled by patients with spinal cord injuries (SCI). Appropriate stimulation patterns are chosen to stimulate intact muscles, in order to extend their overall performance, postponing thus the muscular fatigue during the daily activities such as standing, standing up, sitting down and walking. This paper presents the modeling and the control of a knee joint actuated by the quadriceps muscles. Appropriate stimulation patterns are computed as a function of the desired lower-limb knee joint movements. Parameters of the biomechanical model are identified based on experimental kinematic data. Model predictive control (MPC) is applied to the inputâ€"output feedback linearized (IOFL) system. IOFL allows linearization by inverting the system dynamics through a nonlinear feedback transformation. The described control approach is validated through different simulation scenarios for knee flexionâ€"extension. Internal dynamics stability is mathematically proved and performances are compared to those produced by classical pole placements method. The controller has shown satisfactory results in terms of regulation, stability and robustness with respect to external disturbances.
Type de document :
Article dans une revue
Control Engineering Practice, Elsevier, 2012, 20 (2), pp.182-195. 〈10.1016/j.conengprac.2011.10.010〉
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00655894
Contributeur : David Guiraud <>
Soumis le : mardi 3 janvier 2012 - 09:29:21
Dernière modification le : jeudi 24 mai 2018 - 15:59:24

Identifiants

Collections

Citation

Samer Mohammed, Philippe Poignet, Philippe Fraisse, David Guiraud. Toward Lower Limbs Movement Restoration with Input-Output Feedback Linearization and Model Predictive Control Through Functional Electrical Stimulation. Control Engineering Practice, Elsevier, 2012, 20 (2), pp.182-195. 〈10.1016/j.conengprac.2011.10.010〉. 〈lirmm-00655894〉

Partager

Métriques

Consultations de la notice

247