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Design of Multiple Degree-Of-Freedom Sliding Mode FES Controller for Concurrent Stimulation of Multiple Mono and Biarticulate Muscles

Author(s):

S. Jezernik
Conference/Journal:

IEEE Engineering in Medicine and Biology Conference, San Francisco, California, pp. 4630-4632
Abstract:

This article presents a theoretical design of an FES controller to be used for stimulation of multiple mono and biarticulate muscles to restore multiple degree-of-freedom (DOF) motion in paralyzed individuals. The overall control strategy is based on multiple DOF musculo-skeletal model, nonlinear sliding mode control design, constrained optimization techniques to determine the needed muscle activations, and an additional inversion of the neuro-muscular stimulation relationship in order to obtain the needed controller output (electrical current amplitude/pulse-width). The combination of these methods leads to a controller that guarantees asymptotically stable tracking of reference position trajectories while assuring minimal (optimal) muscle activation and fatigue.

Year:

2004
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { Xxx:2004:IFA_1907,
    author={S. Jezernik},
    title={{Design of Multiple Degree-Of-Freedom Sliding Mode FES
	  Controller for Concurrent Stimulation of Multiple Mono and
	  Biarticulate Muscles}},
    booktitle={IEEE Engineering in Medicine and Biology Conference},
    pages={4630--4632},
    year={2004},
    address={San Francisco, California},
    month=sep,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=1907}
}
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