An Adaptive Low-Dimensional Control for a Hybrid Neuroprosthesis. Issue 20 (2015)

• Record Type: Journal Article
• Authors: Alibeji, Naji A.; Kirsch, Nicholas A.; Sharma, Nitin
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 20(2015)
• Page Start: 303
• Page End: 308
• Publication Date: 2015
• Subjects: FES -- Low Dimensional Control -- Nonlinear Control -- Hybrid Neuroprosthesis; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.10.156
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Hybrid neuroprostheses that use both electric motor drives and functional electrical stimulation for the restoration of walking in persons with paraplegia have a promising potential. However, the hybrid actuation structure introduces effector redundancy, making the system complex and difficult to control. In this paper we design a low-dimensional controller inspired from the muscle synergy principle. The new controller requires few control signals to actuate multiple effectors in a hybrid neuroprostheses. The development of the controller and a Lyapunov stability analysis, which yielded semi-global uniformly ultimately boundedness is presented in this paper. Computer simulations were performed to test the new controller on a 2 degree of freedom fixed hip model.