TY - GEN
T1 - Compensating for changing muscle geometry of the biceps brachii during neuromuscular electrical stimulation
T2 - 55th IEEE Conference on Decision and Control, CDC 2016
AU - Rouse, Courtney A.
AU - Parikh, Anup
AU - Duenas, Victor
AU - Cousin, Christian
AU - Dixon, Warren E.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/27
Y1 - 2016/12/27
N2 - Functional electrical stimulation (FES) is commonly used in rehabilitation therapy for people with injuries or various neurological disorders. Noninvasive treatments use surface electrodes to provide a potential field across the muscle and induce contractions/output force. The placement of the electrodes has a significant impact on the induced force output. As the muscle geometry changes (i.e., muscle lengthening or shortening), the force induced by the static electrode placement may also change. In this paper, an array of electrodes is placed across the biceps brachii and the electric field is switched across the electrodes (i.e., channels) to maximize the induced muscle force throughout the arm's range of motion, despite changes in the muscle geometry. To yield this outcome, a switched systems approach is used to develop a position-based switching law for the uncertain nonlinear system. Specifically, a switched robust sliding mode controller is developed to track a desired angular trajectory about the elbow. Lyapunov-based methods for switched systems are used to prove global exponential tracking and experimental results demonstrate the performance of the switched control system.
AB - Functional electrical stimulation (FES) is commonly used in rehabilitation therapy for people with injuries or various neurological disorders. Noninvasive treatments use surface electrodes to provide a potential field across the muscle and induce contractions/output force. The placement of the electrodes has a significant impact on the induced force output. As the muscle geometry changes (i.e., muscle lengthening or shortening), the force induced by the static electrode placement may also change. In this paper, an array of electrodes is placed across the biceps brachii and the electric field is switched across the electrodes (i.e., channels) to maximize the induced muscle force throughout the arm's range of motion, despite changes in the muscle geometry. To yield this outcome, a switched systems approach is used to develop a position-based switching law for the uncertain nonlinear system. Specifically, a switched robust sliding mode controller is developed to track a desired angular trajectory about the elbow. Lyapunov-based methods for switched systems are used to prove global exponential tracking and experimental results demonstrate the performance of the switched control system.
KW - Functional Electrical Stimulation (FES)
KW - Lyapunov methods
KW - human-robot interaction
KW - rehabilitation robotics
KW - switched control
UR - http://www.scopus.com/inward/record.url?scp=85010739143&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85010739143&partnerID=8YFLogxK
U2 - 10.1109/CDC.2016.7798450
DO - 10.1109/CDC.2016.7798450
M3 - Conference contribution
AN - SCOPUS:85010739143
T3 - 2016 IEEE 55th Conference on Decision and Control, CDC 2016
SP - 1328
EP - 1333
BT - 2016 IEEE 55th Conference on Decision and Control, CDC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 12 December 2016 through 14 December 2016
ER -