Model Predictive Control-Based Knee Actuator Allocation During a Standing-Up Motion with a Powered Exoskeleton and Functional Electrical Stimulation

2020 ◽  
pp. 89-100
Author(s):  
Xuefeng Bao ◽  
Vahidreza Molazadeh ◽  
Albert Dodson ◽  
Nitin Sharma
Keyword(s):  
Electrical Stimulation ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Functional Electrical Stimulation ◽  
Standing Up ◽  
Powered Exoskeleton

Nonlinear Model Predictive Control of Functional Electrical Stimulation

2015 ◽  
Author(s):  
Nicholas A. Kirsch ◽  
Naji A. Alibeji ◽  
Nitin Sharma
Keyword(s):  
Optimal Control ◽  
Electrical Stimulation ◽  
Model Predictive Control ◽  
Muscle Fatigue ◽  
Predictive Control ◽  
Functional Electrical Stimulation ◽  
Rapid Onset ◽  
Knee Extension ◽  
Control Lyapunov Function ◽  
Predictive Controller

One of the major limitations of functional electrical stimulation (FES) is the rapid onset of muscle fatigue. Minimizing stimulation is the key to decreasing the adverse effects of muscle fatigue caused by FES. Optimal control can be used to compute the minimum amount of stimulation necessary to produce a desired motion. In this paper, a gradient projection-based model predictive controller is used for an approximate optimal control of a knee extension neuroprosthesis. A control Lyapunov function is used as a terminal cost to ensure stability of the model predictive control.

Standing-up exerciser based on functional electrical stimulation and body weight relief

2002 ◽  
Vol 40 (3) ◽  
pp. 282-289 ◽  
Author(s):  
M. Ferrarin ◽  
E. E. Pavan ◽  
R. Spadone ◽  
R. Cardini ◽  
C. Frigo
Keyword(s):  
Body Weight ◽  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Standing Up

Hybrid functional electrical stimulation for energy-efficient restoration of standing-up motion

1999 ◽  
Vol 80 (1) ◽  
pp. 40-47 ◽  
Author(s):  
Seiya Miyamoto ◽  
Yoichi Shimada ◽  
Kozo Sato ◽  
Hitoshi Kagaya ◽  
Toshiki Matsunaga ◽  
...  
Keyword(s):  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Energy Efficient ◽  
Hybrid Functional ◽  
Standing Up
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