Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL 32611, USA.
IEEE Trans Neural Syst Rehabil Eng. 2009 Dec;17(6):576-84. doi: 10.1109/TNSRE.2009.2023294. Epub 2009 Jun 2.
A high-level objective of neuromuscular electrical stimulation (NMES) is to enable a person to achieve some functional task. Towards this goal, the objective of the current effort is to develop a NMES controller to produce a knee position trajectory that will enable a human shank to track any continuous desired trajectory (or constant setpoint). A nonlinear control method is developed to control the human quadriceps femoris muscle undergoing nonisometric contractions. The developed controller does not require a muscle model and can be proven to yield asymptotic stability for a nonlinear muscle model in the presence of bounded nonlinear disturbances (e.g., spasticity, delays, fatigue). The performance of the controller is demonstrated through a series of closed-loop experiments on human subjects. The experiments illustrate the ability of the controller to enable the leg shank to track single and multiple period trajectories with different periods and ranges of motion, and also track desired step changes with changing loads.
神经肌肉电刺激 (NMES) 的一个高级目标是使一个人能够完成一些功能任务。为了实现这一目标，目前的努力目标是开发一种 NMES 控制器，以产生一个膝关节位置轨迹，使人类小腿能够跟踪任何连续的期望轨迹（或恒定设定点）。开发了一种用于控制进行非等长收缩的人体股四头肌的非线性控制方法。所开发的控制器不需要肌肉模型，并且可以证明在存在有界非线性干扰（例如，痉挛、延迟、疲劳）的情况下，对于非线性肌肉模型具有渐近稳定性。通过对人体受试者进行的一系列闭环实验来演示控制器的性能。实验说明了控制器使腿部小腿能够跟踪具有不同周期和运动范围的单个和多个周期轨迹的能力，并且还能够在负载变化时跟踪期望的阶跃变化。
