An LQG controller for muscle moment using the polynomial approach

The paper is concerned with the design of controllers for functional tasks in rehabilitation engineering, in particular the control of the moment produced by electrical stimulation of paralysed muscles. An LQG-optimal controller design procedure for ankle joint moment was proposed based on the polynomial equation formulation. The approach was verified by experiments in purpose-built apparatus with both neurologically-intact and paraplegic subjects. Some typical experimental results are reported. References are given to articles where the work is described in detail. A major aim was to provide a controller design setup for straightforward day-to-day use in the laboratory. This aim was achieved by specialising the polynomial equation approach for LQG regulator design to the problem at hand