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Dynamic Modeling and Control of Functional Electrical Stimulation Assisted Quiet Standing


R. Nguyen

Semster/Bachelor Thesis, SS 07

For spinal cord injury patients, functional electrical stimulation (FES) assisted standing can have both physiological and psychological benefits. They include prevention of joint contractures; improvement of cardiovascular response; reduction of pressure sores; decrease in bone loss; and improvement of self-image. The standing is performed by applying electrical fields to the lower limbs using sequences of stimulation that are given in reaction to body sway. Until recently, most design of such FES systems has been based on simple segmental models that assume only motion in the sagittal plane, e.g., an inverted pendulum. Although such assumptions simplify design, more realistic models are desired to take into account the asymmetrical nature of muscle contraction ability in impaired individuals. To fill this void, a three dimensional dynamic model with twelve degrees of freedom in the lower limbs was developed. Also, minimal sets of active degrees of freedom that are still capable of controlling the body were suggested. Along with the model, a simple proportional and derivative (PD) controller was also proposed.

Supervisors: Dr. T. Keller, Prof. M. Morari

Further Information

Type of Publication:

(13)Semester/Bachelor Thesis

M. Morari

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2007:IFA_2891
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