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An Adaptive Block Backstepping Control Design for Functional Electrical Stimulation of Agonist-Antagonist Muscles

[+] Author Affiliations
Bonsung Koo, Alexander Leonessa

Virginia Polytechnic Institute and State University, Blacksburg, VA

Paper No. DSCC2011-6143, pp. 479-486; 8 pages
doi:10.1115/DSCC2011-6143
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME

abstract

In this paper, an adaptive block backstepping controller is developed for stimulation of agonist-antagonist muscles by using Functional Electrical Stimulation (FES). FES is an alternative method that stimulates a paralyzed muscle in lieu of inactive motor neurons, which was first implemented in the 1960s ([1]). However, many challenges need to be addressed before clinical trials with Spinal Cord Injury (SCI) patients can be performed, which include designing a controller, modeling muscles, developing interface equipment, just to mention a few. To contribute to the FES control field, a nonlinear controller and its evaluation through a computer simulation are presented.

Copyright © 2011 by ASME
Topics: Design , Muscle

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