An experimental PID controller for knee movement restoration with closed loop FES system

Author

Ferrarin, M. ; Acquisto, E.D. ; Mingrino, A. ; Pedotti, A.

Author_Institution

Centro di Bioingegneria, Politecnico di Milano, Italy

Volume

1

fYear

1996

fDate

31 Oct-3 Nov 1996

Firstpage

453

Abstract

In this study a closed loop control of knee movements induced by functional electrical stimulation (FES) is presented. A discrete time PID controller working in a master-slave configuration was used where the knee angle, measured with an electrogoniometer, was controlled by another goniometer. First application with surface electrodes on a healthy subject is here considered, frequency response of the closed loop system is experimentally found and the transfer function of the stimulator-leg system is then analytically derived

Keywords

biocontrol; bioelectric phenomena; biomechanics; closed loop systems; controllers; muscle; orthotics; three-term control; closed loop FES system; electrogoniometer; experimental PID controller; frequency response; functional electrical stimulation; healthy subject; knee angle; knee movement restoration; master-slave configuration; stimulator-leg system; surface electrodes; transfer function; Closed loop systems; Electrodes; Frequency response; Goniometers; Knee; Master-slave; Neuromuscular stimulation; Three-term control; Time measurement; Transfer functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 1996. Bridging Disciplines for Biomedicine. Proceedings of the 18th Annual International Conference of the IEEE

Conference_Location

Amsterdam

Print_ISBN

0-7803-3811-1

Type

conf

DOI

10.1109/IEMBS.1996.657039

Filename

657039