Isometric Torque Control for Neuromuscular Electrical Stimulation With Time-Varying Input Delay
| Autor: | Ryan J. Downey, Serhat Obuz, Manelle Merad, Warren E. Dixon |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Computer science Isometric torque Stimulation 02 engineering and technology Isometric exercise Tracking error 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Control and Systems Engineering Control theory Torque Feedback controller Electrical and Electronic Engineering Constant (mathematics) 030217 neurology & neurosurgery |
| Zdroj: | IEEE Transactions on Control Systems Technology. 24:971-978 |
| ISSN: | 1558-0865 1063-6536 |
| DOI: | 10.1109/tcst.2015.2470637 |
| Popis: | Previous results have shown experimental evidence that the muscle response to neuromuscular electrical stimulation (NMES) is delayed; the time lag is often referred to as electromechanical delay. NMES closed-loop control methods have been developed to compensate for a known constant input delay. However, as a muscle fatigues, this delay increases. This paper develops a feedback controller that robustly compensates for the time-varying delay of an uncertain muscle model during isometric contractions. The controller is proven to yield global uniformly ultimately bounded torque tracking error. Experimental results illustrate the effectiveness of the developed controller and the time-varying nature of the delayed response. |
| Databáze: | OpenAIRE |
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