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Nonlinear FES Control of Knee Joint by Inversely Compensated Feedback System  

Eom Gwang-Moon (School of Biomedical Engineering, Konkuk University)
Lee Jae-Kwan (R&D Center, Hyundai Mobis)
Kim Kyeong-Seop (School of Biomedical Engineering, Konkuk University)
Watanabe Takashi (Information Synergy Center, Tohoku University)
Futami Ryoko (Human Support System, Fukushima University)
Publication Information
International Journal of Control, Automation, and Systems / v.4, no.3, 2006 , pp. 302-307 More about this Journal
Abstract
The aim of applying Functional Electrical Stimulation (FES) is to restore a person's motor function by directly supplying the controlled electrical currents to the site of the paralyzed muscles. However, most clinically utilized FES systems have adapted an open-loop control scheme. Recently the closed-loop control scheme has been considered for setting up the FES system, but due to the inherent nonlinearities in the musculoskeletal system, the nonlinearities were not fully compensated and it caused the oscillatory responses for tracking the output variables. In this study, a nonlinear controller model that has two inverse compensation units is proposed with the compromising feedback linearization method and this will eventually be used to design the FES control system for stimulating a knee joint musculoskeletal system.
Keywords
Feedback linearization; FES; inverse compensation; knee joint musculoskeletal system; nonlinear control;
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