Paper Info
Title
Switched tracking control of a human limb during asynchronous neuromuscular electrical stimulation
Abstract
Neuromuscular electrical stimulation (NMES) is a method commonly used for rehabilitation whereby an applied electrical stimulus induces muscle contractions. NMES can also evoke functional movements; however, a fundamental limitation is the early onset of fatigue. Asynchronous stimulation is a method that can reduce fatigue by utilizing multiple stimulation channels to segregate and switch between different sets of motor units. However, one limitation is that switching introduces discontinuities since each set of motor units responds differently to stimulation. Therefore, there is a need to design a controller which considers the switching dynamics and differing muscle response. In preliminary work, a control law was developed for asynchronous stimulation. However, the previous control design required there to be a finite window of time where the control voltage is transitioned from one channel to another. Since a transition period is undesirable in practice (as it will lead to increased fatigue), a switched systems analysis is used in the present work to design a controller that allows for instantaneous switching. The developed controller yields semiglobal exponential tracking of a desired angular trajectory for a personu0027s knee-shank complex. The result of the work is promising for the implementation of asynchronous stimulation for closed-loop rehabilitative procedures and in assistive devices as an approach to limit NMES-induced fatigue while tracking a desired trajectory.
Year
DOI
Venue
2015
10.1109/ACC.2015.7172038
American Control Conference
Keywords
Field
DocType
closed loop systems,control system analysis,control system synthesis,gait analysis,medical control systems,neuromuscular stimulation,patient rehabilitation,switching systems (control),synchronisation,NMES,angular trajectory,assistive devices,asynchronous neuromuscular electrical stimulation,closed-loop rehabilitative procedures,control law design,controller design,electrical stimulus,functional movements,human limb,muscle contractions,muscle response,person knee-shank complex,semiglobal exponential tracking,stimulation channels,switched system analysis,switched tracking control,switching dynamics,voltage control
Asynchronous communication,Functional movement,Control theory,Computer science,Control theory,Simulation,Voltage,Communication channel,Control engineering,Stimulus (physiology),Trajectory,Stimulation
Conference
ISSN
ISBN
Citations 
0743-1619
978-1-4799-8685-9
0
PageRank 
References 
Authors
0.34
5
4
Name
Order
Citations
PageRank
Ryan Downey1355.02
Teng-Hu Cheng2838.58
Matthew J. Bellman3264.27
Warren E. Dixon41757149.42