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Neuromuscular electrical stimulation (NMES) to extend as well as flex a limb joint requires stimulation of an antagonistic muscle pair. This is due to the fact that muscles are unidirectional actuators. The control challenge is to allocate control inputs to antagonist muscles based on the system output, usually a limb angle error. Further, NMES input to each muscle is delayed by an electromechanical...
Neuromuscular electrical stimulation (NMES) is a promising technique to restore functional mobility in persons with paraplegia. Closed-loop control of NMES allows precise and accurate limb control in critical tasks such as gait restoration or gait retraining. However, a major cause of degraded performance and instability during NMES control is electromechanical delay (EMD). Uncertainty, exogenous...
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