NDLI: Hybrid Electrical Stimulation Tracking Control of the Ankle

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Wang, Q. Kamalapurkar, R. Downey, R. Dixon, W. E.
Copyright Year	2012
Abstract	Functional electrical stimulation (FES) is an effective rehabilitation tool for gait retraining for individuals suffering from various neurological disorders. Traditionally, FES is only delivered to activate ankle dorsiflexor muscles during the swing phase of the gait to correct “foot drop”. Recent research indicates that improved functional ambulation can be achieved by delivering FES to both the plantarflexor and dorsiflexor muscles during gait. Closed-loop electrical stimulation has the potential to yield positive rehabilitative outcomes by enabling accurate and precise limb motions during gait retraining. Naturally, the motion of ankle during gait is an event-driven system combining continuous evolution of the angle between the foot and shank, alternate moving segments of the foot and shank, and alternate activation of the plantarflexor and dorsiflexor muscles. A switched sliding mode based controller is developed to ensure that the ankle tracks a designed or recorded normal trajectory during gait which can be used for gait retraining. Semi-global asymptotic tracking of the hybrid controller is analyzed using multiple Lyapunov functions and the performance is illustrated through simulations.
Sponsorship	Dynamic Systems and Control Division
Starting Page	511
Ending Page	517
Page Count	7
File Format	PDF
ISBN	9780791845301
DOI	10.1115/DSCC2012-MOVIC2012-8683
Volume Number	Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems
Conference Proceedings	ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
Language	English
Publisher Date	2012-10-17
Publisher Place	Fort Lauderdale, Florida, USA
Access Restriction	Subscribed
Subject Keyword	Simulation Control equipment Trajectories (physics) Nervous system Muscle Engineering simulation Performance Tracking control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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