TY - GEN
T1 - A novel sliding mode controller for functional electrical stimulation
AU - Jezernik, Sašo
AU - Inderbitzin, Philipp
AU - Keller, Thierry
AU - Riener, Robert
N1 - Publisher Copyright:
Copyright © 2002 IFAC.
PY - 2002
Y1 - 2002
N2 - This article describes a model-based development of a new nonlinear controller for control of Functional Electrical Stimulation, which can be used to restore movement in paralyzed individuals. The control design is based on the theory of sliding mode control. The controller is mathematically derived and shown to provide asymptotic stability of knee joint angle tracking by electrical stimulation of knee extensor muscle group only, or by electrical stimulation of knee extensor and flexor muscle groups. Its behaviour was evaluated in simulations with artificial and physiological knee joint angle reference trajectories. The controller was able to track trajectories with a period of 2 s with a root-mean-square error of approximately 2 degrees, which is considered a good performance. It was also shown to be robust to parameter variations of the model. This is important as models for different persons will differ considerably.
AB - This article describes a model-based development of a new nonlinear controller for control of Functional Electrical Stimulation, which can be used to restore movement in paralyzed individuals. The control design is based on the theory of sliding mode control. The controller is mathematically derived and shown to provide asymptotic stability of knee joint angle tracking by electrical stimulation of knee extensor muscle group only, or by electrical stimulation of knee extensor and flexor muscle groups. Its behaviour was evaluated in simulations with artificial and physiological knee joint angle reference trajectories. The controller was able to track trajectories with a period of 2 s with a root-mean-square error of approximately 2 degrees, which is considered a good performance. It was also shown to be robust to parameter variations of the model. This is important as models for different persons will differ considerably.
KW - Applied neural control
KW - Biomechanics
KW - Medical applications
UR - https://www.scopus.com/pages/publications/84945535616
U2 - 10.3182/20020721-6-es-1901.01342
DO - 10.3182/20020721-6-es-1901.01342
M3 - Conference contribution
AN - SCOPUS:84945535616
SN - 9783902661746
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 199
EP - 203
BT - IFAC Proceedings Volumes (IFAC-PapersOnline)
A2 - Ferrate, Gabriel
A2 - Camacho, Eduardo F.
A2 - Basanez, Luis
A2 - de la Puente, Juan. A.
PB - IFAC Secretariat
T2 - 15th World Congress of the International Federation of Automatic Control, 2002
Y2 - 21 July 2002 through 26 July 2002
ER -