Compensating for changing muscle geometry of the biceps brachii during neuromuscular electrical stimulation: A switched systems approach

Courtney A. Rouse, Anup Parikh, Victor Duenas, Christian Cousin, Warren E. Dixon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2016 IEEE 55th Conference on Decision and Control, CDC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1328-1333
Number of pages6
ISBN (Electronic)9781509018376
DOIs
StatePublished - Dec 27 2016
Externally publishedYes
Event55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States
Duration: Dec 12 2016Dec 14 2016

Other

Other55th IEEE Conference on Decision and Control, CDC 2016
CountryUnited States
CityLas Vegas
Period12/12/1612/14/16

Keywords

  • Functional Electrical Stimulation (FES)
  • human-robot interaction
  • Lyapunov methods
  • rehabilitation robotics
  • switched control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Decision Sciences (miscellaneous)
  • Control and Optimization

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    Rouse, C. A., Parikh, A., Duenas, V., Cousin, C., & Dixon, W. E. (2016). Compensating for changing muscle geometry of the biceps brachii during neuromuscular electrical stimulation: A switched systems approach. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 1328-1333). [7798450] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798450