Tuning study of a feedback stiffness controller for multi-joint neural prostheses

Author

Lan, Ning

Author_Institution

Dept. of Electr. Eng., Tsinghua Univ., Beijing, China

Volume

1

fYear

1996

fDate

31 Oct-3 Nov 1996

Firstpage

430

Abstract

A multi-variable feedback stiffness controller with proportional plus integral (PI) law was evaluated with computer simulation studies. Additional damping was provided by adding a velocity feedback to the PI controller to compensate for inadequate damping in the limb. A new co-contraction map for antagonistic muscle stimulation was also implemented, so as to achieve a better balance of their mechanical actions. A tuning protocol was established to determine controller parameters. Simulation results showed satisfactory responses in both isometric force control and posture regulation. This controller is aimed at applications in arm posture maintenance and control of stance

Keywords

biocontrol; biomechanics; controllers; damping; elasticity; feedback; force control; muscle; neurophysiology; prosthetics; two-term control; antagonistic muscle stimulation; arm posture maintenance; cocontraction map; controller parameters determination; feedback stiffness controller tuning; inadequate limb damping; isometric force control; mechanical actions balance; multijoint neural prostheses; posture regulation; stance control; tuning protocol; Damping; Electric variables control; Force control; Jacobian matrices; Mechanical variables control; Muscles; Neurofeedback; Prosthetics; Space vector pulse width modulation; Tuning;

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.1996.657028

Filename

657028