Title :
Feedback control of end-point stiffness in a multi-joint limb by FNS
Author :
Lan, N. ; Crago, P.E. ; Chizeck, H.J.
Author_Institution :
Appl. Neural Control Lab., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
A multivariable proportional-plus-integral (PI) feedback controller for control of endpoint stiffness in a multijoint limb is presented. The controller, operating in the joint coordinate system, uses a driving error vector formed in the endpoint Cartesian coordinates, so that endpoint stiffness at the limb can be regulated. Experimental tests demonstrate stable control of endpoint position and isometric force with zero steady-state error
Keywords :
biocontrol; biomechanics; elasticity; feedback; orthotics; driving error vector; endpoint Cartesian coordinates; endpoint position control; endpoint stiffness; experimental tests; functional neuromuscular stimulation; isometric force; joint coordinate system; multi-joint limb; multivariable proportional-plus-integral feedback controller; steady-state error; Control systems; Error correction; Feedback control; Force control; Knee; Muscles; Pi control; Proportional control; Testing; Transmission line matrix methods;
Conference_Titel :
Engineering in Medicine and Biology Society, 1989. Images of the Twenty-First Century., Proceedings of the Annual International Conference of the IEEE Engineering in
Conference_Location :
Seattle, WA
DOI :
10.1109/IEMBS.1989.95644
