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A hybrid neuroprosthesis is a device that uses a combination of electric motors and functional electrical stimulation (FES) to provide gait assistance. Its closed-loop control performance can be potentially affected by the presence of electromechanical delay (EMD) during FES. In this paper, a tracking control scheme for a hybrid walking neuroprosthesis that combines electric motor actuation at the...
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...
Functional electrical stimulation (FES) can be used to restore motor function to individuals with motion impairments; however, the duration of FES usage is limited by the rapid onset of muscle fatigue. A motor-assist can be used to compensate for the muscle fatigue by sharing work load of FES. However, it is unknown how to optimally allocate control effort to the motor-assist and FES as the muscle...
The torque generation capability of muscles often reduces during a functional electrical stimulation (FES) session due to the rapid onset of muscle fatigue. Hybrid rehabilitation systems that use FES and electric motor assist may overcome this issue. The primary control challenge in such a system is how to allocate control inputs between electric motor and FES during muscle fatigue and muscle recovery...
Through the application of functional electrical stimulation (FES) individuals with paraplegia can regain lost walking function. However, due to the rapid onset of muscle fatigue, the walking duration obtained with an FES-based neuroprosthesis is often relatively short. The rapid muscle fatigue can be compensated for by using a hybrid system that uses both FES and an active orthosis. In this paper,...
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...
In contrast to the muscle recruitment during voluntary walking, only a limited number of muscles are activated during functional electrical stimulation (FES)-based walking. This implies that a trajectory designed or recorded from the normal human walking data may not be the best choice for tracking control. Another major challenge during FES-based walking is the rapid onset of muscle fatigue. Two...
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