DocumentCode :
3180344
Title :
Closed Loop Nonlinear Model Predictive Control Applied On Paralyzed Muscles To Restore Lower Limbs Functions
Author :
Mohammed, Samer ; Poignet, Philippe ; Guiraud, David
Author_Institution :
Dept. of Robotics, Montpellier II Univ.
fYear :
2006
fDate :
Oct. 2006
Firstpage :
259
Lastpage :
264
Abstract :
The main goal when applying functional electrical stimulation (FES) to the paralyzed lower limbs of the paraplegic patients is to avoid hyperstimulation and to defer the muscular fatigue as much as possible. In this paper a closed loop position control of the knee joint actuated by the quadriceps muscle to perform flexion-extension has been presented. The feedback control consists of a model predictive control (MPC) technique which is also known by a receding horizon control or moving horizon control. This controller is applied to a complex physio-mathematical muscle model that is based on a macroscopic Hill and a microscopic Huxley concepts. An MPC constitutes an adequate controller with nonlinear multivariable systems. Furthermore it enables us to incorporate explicitly constraints on inputs, outputs and system states. The controller has shown a robustness against force perturbation and model mismatch as well as high capability of tracking a pre-defined reference trajectory
Keywords :
closed loop systems; feedback; medical control systems; neuromuscular stimulation; nonlinear control systems; predictive control; closed loop nonlinear model predictive control; feedback control; force perturbation; functional electrical stimulation; lower limbs function restoration; muscular fatigue; paralyzed muscles; paraplegic patients; physio-mathematical muscle model; predefined reference trajectory; receding horizon control; Fatigue; Feedback control; Knee; Microscopy; Muscles; Neuromuscular stimulation; Nonlinear control systems; Position control; Predictive control; Predictive models;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
Type :
conf
DOI :
10.1109/IROS.2006.281945
Filename :
4058789
Link To Document :
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