Nonlinear FES control of knee joint by inversely compensated feedback system

Gwang Moon Eom, Jae Kwan Lee, Kyeong Seop Kim, Takashi Watanabe, Ryoko Futami

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

Abstract

The aim of applying Functional Electrical Stimulation (FES) is to restore a person's motor function by directly supplying the controlled electrical currents to the site of the paralyzed muscles. However, most clinically utilized FES systems have adapted an open-loop control scheme. Recently the closed-loop control scheme has been considered for setting up the FES system, but due to the inherent nonlinearities in the musculoskeletal system, the nonlinearities were not fully compensated and it caused the oscillatory responses for tracking the output variables. In this study, a nonlinear controller model that has two inverse compensation units is proposed with the compromising feedback linearization method and this will eventually be used to design the FES control system for stimulating a knee joint musculoskeletal system.

Original languageEnglish
Pages (from-to)302-307
Number of pages6
JournalInternational Journal of Control, Automation and Systems
Volume4
Issue number3
Publication statusPublished - 2006 Jun 1

Keywords

  • FES
  • Feedback linearization
  • Inverse compensation
  • Knee joint musculoskeletal system
  • Nonlinear control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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