A Tube-Based Model Predictive Control Method to Regulate a Knee Joint With Functional Electrical Stimulation and Electric Motor Assist

2020 ◽  
pp. 1-12
Author(s):  
Xuefeng Bao ◽  
Zhiyu Sheng ◽  
Brad E. Dicianno ◽  
Nitin Sharma
Keyword(s):  
Electrical Stimulation ◽  
Knee Joint ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Functional Electrical Stimulation ◽  
Electric Motor ◽  
Control Method

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.

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