Tracking ankle joint movements during gait cycle via control of functional electrical stimulation

2021 ◽  
pp. 095441192110523
Author(s):  
Seyyed Arash Haghpanah ◽  
Morteza Farrokhnia ◽  
Sajjad Taghvaei ◽  
Mohammad Eghtesad ◽  
Esmaeal Ghavanloo
Keyword(s):  
Electrical Stimulation ◽  
Ankle Joint ◽  
Functional Electrical Stimulation ◽  
Gait Cycle ◽  
Sliding Mode ◽  
Musculoskeletal Model ◽  
Pd Controller ◽  
Model Errors ◽  
Nonlinear Method ◽  
Cycle Simulation

Functional electrical stimulation (FES) is an effective method to induce muscle contraction and to improve movements in individuals with injured central nervous system. In order to develop the FES systems for an individual with gait impairment, an appropriate control strategy must be designed to accurate tracking performance. The goal of this study is to present a method for designing proportional-derivative (PD) and sliding mode controllers (SMC) for the FES applied to the musculoskeletal model of an ankle joint to track the desired movements obtained by experiments on two healthy individuals during the gait cycle. Simulation results of the developed controller on musculoskeletal model of the ankle joint illustrated that the SMC is able to track the desired movements more accurately than the PD controller and prevents oscillating patterns around the experimentally measured data. Therefore, the sliding mode as the nonlinear method is more robust in face to unmodeled dynamics and model errors and track the desired path smoothly. Also, the required control effort is smoother in SMC with respect to the PD controller because of the nonlinearity.

scholarly journals Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
John F. Tan ◽  
Kei Masani ◽  
Albert H. Vette ◽  
José Zariffa ◽  
Mark Robinson ◽  
...  
Keyword(s):  
Electrical Stimulation ◽  
Ankle Joint ◽  
Functional Electrical Stimulation ◽  
Closed Loop ◽  
Inverted Pendulum ◽  
Control Strategies ◽  
Angular Position ◽  
Case Series ◽  
Effective Control ◽  
Free Standing

The restoration of arm-free standing in individuals with paraplegia can be facilitated via functional electrical stimulation (FES). In developing adequate control strategies for FES systems, it remains challenging to test the performance of a particular control scheme on human subjects. In this study, we propose a testing platform for developing effective control strategies for a closed-loop FES system for standing. The Inverted Pendulum Standing Apparatus (IPSA) is a mechanical inverted pendulum, whose angular position is determined by the subject’s ankle joint angle as controlled by the FES system while having the subject’s body fixed in a standing frame. This approach provides a setup that is safe, prevents falling, and enables a research and design team to rigorously test various closed-loop controlled FES systems applied to the ankle joints. To demonstrate the feasibility of using the IPSA, we conducted a case series that employed the device for studying FES closed-loop controllers for regulating ankle joint kinematics during standing. The utilized FES system stimulated, in able-bodied volunteers, the plantarflexors as they prevent toppling during standing. Four different conditions were compared, and we were able to show unique performance of each condition using the IPSA. We concluded that the IPSA is a useful tool for developing and testing closed-loop controlled FES systems for regulating ankle joint position during standing.

scholarly journals THERAPEUTIC EFFECTS OF ANKLE JOINT TAPING COMBINED WITH FUNCTIONAL ELECTRICAL STIMULATION FOR THE CORRECTION OF POST STROKE FOOT DROP

2015 ◽  
Vol 4 (2) ◽  
pp. 15-20
Author(s):  
Amna Aamir Khan ◽  
Hassan Abbas ◽  
Rabbia Naseer Ahmed ◽  
Maria Salman
Keyword(s):  
Electrical Stimulation ◽  
Ankle Joint ◽  
Functional Electrical Stimulation ◽  
Ankle Dorsiflexion ◽  
Foot Drop ◽  
Manual Muscle Testing ◽  
Therapeutic Effects ◽  
Post Stroke ◽  
Muscle Testing ◽  
Significant Difference

OBJECTIVE Post stroke foot is inability to lift foot at ankle joint due to paralysis of ankle dorsiflexor muscles. It is a common problem faced by stroke survivors. To determine the effect of ankle joint taping combined with functional electrical stimulation on post stroke foot drop. METHODS It was an experimental study. 10 stroke patients with foot drop were enlisted for the study by convenience sampling and randomized into two groups. The group A or treatment group (n-5) received kinesiotaping of ankle joint and functional electrical stimulation while group B or control group (n-5) received functional electrical stimulation only. Clinical assessment was done before and after study. Outcome measures were Manual Muscle Testing, active ankle dorsiflexion and time up and go test. RESULTS Improvement was recorded in both kinesiotaping of ankle joint with functional electrical stimulation and functional electrical stimulation groups for MMT and active range of ankle dorsiflexion and there was no significant improvement in time up and go test. But statistically non-significant difference between both groups is observed (Z=-2.000, p=0.46). CONCLUSIONS These results indicate that there is no clear benefit of ankle joint taping combined with functional electrical stimulation for correction of post stroke foot drop. Keywords: Foot Drop, Functional Electrical Stimulation, Ankle Joint Taping, Kinesiotaping, Dorsiflexion, Manual Muscle Testing

scholarly journals A NOVEL SLIDING MODE CONTROLLER FOR FUNCTIONAL ELECTRICAL STIMULATION

2002 ◽  
Vol 35 (1) ◽  
pp. 199-203 ◽  
Author(s):  
Sašo Jezernik ◽  
Philipp Inderbitzin ◽  
Thierry Keller ◽  
Robert Riener
Keyword(s):  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Sliding Mode ◽  
Sliding Mode Controller

scholarly journals Control of the Upper Limbs for Rehabilitative Arm-Cycling via Functional Electrical Stimulation

2018 ◽  
Vol 20 (1) ◽  
Author(s):  
Max Harrison Cohen
Keyword(s):  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Sliding Mode ◽  
Electrical Current ◽  
Sliding Mode Controller ◽  
Upper Limbs ◽  
Arm Cycling ◽  
State Dependent ◽  
Neurological Conditions ◽  
Autonomous State

Functional electrical stimulation (FES) is the application of electrical current across muscle fibers to elicit muscle contractions with the goal of achieving some function outcome (e.g. walking, cycling). FES-cycling has become a very popular rehabilitative strategy over the years as it has proven to yield numerous health benefits for individuals suffering from neurological conditions. In this paper the idea of FES-cycling is extended to the upper limbs and a new arm-cycling testbed is introduced. A dynamic model for the arm-cycle-rider system is presented and a robust sliding-mode controller is developed for the nonlinear, autonomous, state-dependent, switched system. The controller is designed with the goal of tracking a specified crank velocity by switching between muscle stimulation and an electric motor. Despite the uncertainties and nonlinearities associated with the system, global exponential tracking of the desired crank trajectory is proven with a Lyapunov-based stability analysis. Preliminary experiments are performed with an able-bodied subject to characterize the performance of the designed controller. The results of the experiment are presented to illustrate stable tracking of the designed control system.

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