NDLI: Sliding mode closed-loop control of FES controlling the shank movement

Content Provider	IEEE Xplore Digital Library
Author	Jezernik, S. Wassink, R.G.V. Keller, T.
Copyright Year	1964
Abstract	Functional electrical stimulation (FES) enables restoration of movement in individuals with spinal cord injury. FES-based devices use electric current pulses to stimulate and excite the intact peripheral nerves. They produce muscle contractions, generate joint torques, and thus, joint movements. Since the underlying neuromuscular-skeletal system is highly nonlinear and time-varying, feedback control is necessary for accurate control of the generated movement. However, classical feedback/closed-loop control algorithms have so far failed to provide satisfactory performance and were not able to guarantee stability of the closed-loop system. Because of this, only open-loop controlled FES devices are in clinical use in spite of their limitations. The purpose of the reported research was to design a novel closed-loop FES controller that achieves good tracking performance and guarantees closed-loop stability. Such a controller was designed based on a mathematical neuromuscular-skeletal model and is founded on a sliding mode control theory. The controller was used to control shank movement and was tested in computer simulations as well as in actual experiments on healthy and spinal cord injured subjects. It demonstrated good robustness, stability, and tracking performance properties.
Sponsorship	IEEE Engineering in Medicine and Biology Society
Page Count	10
File Size	558226
Starting Page	263
Ending Page	272
File Format	PDF
ISSN	00189294
Volume Number	51
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sliding mode control Open loop systems Control systems Robust stability Neuromuscular stimulation Spinal cord injury Current Muscles Time varying systems Feedback control
Content Type	Text
Resource Type	Article
Subject	Biomedical Engineering

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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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Comments on Sliding Mode Closed-Loop Control of FES: Controlling the Shank Movement

Sliding mode closed-loop control of fes: controlling the shank movement.

A Neuro-Sliding-Mode Control With Adaptive Modeling of Uncertainty for Control of Movement in Paralyzed Limbs Using Functional Electrical Stimulation

A Comparison of Closed-Loop Control Algorithms for Regulating Electrically Stimulated Knee Movements in Individuals With Spinal Cord Injury

Robust control law strategy based on high order sliding mode: towards a muscle control

Strategies for Generating Prolonged Functional Standing Using Intramuscular Stimulation or Intraspinal Microstimulation

An integrated voluntary muscle and FES controller to restore elbow extension in spinal cord injury

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Sliding mode closed-loop control of FES controlling the shank movement

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Comments on Sliding Mode Closed-Loop Control of FES: Controlling the Shank Movement

Sliding mode closed-loop control of fes: controlling the shank movement.

A Neuro-Sliding-Mode Control With Adaptive Modeling of Uncertainty for Control of Movement in Paralyzed Limbs Using Functional Electrical Stimulation

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