Pulse-train controllers for functional neuromuscular stimulation

This summary describes work in progress toward the development of closed-loop control systems for the functional neuromuscular (electrical) stimulation of muscles in paralyzed patients. A simple closed-loop digital controller which regulates muscle force in a robust way (that is, with low sensitivity to modelling errors and disturbances) has been designed using classical discrete-time root-locus methods. This controller has been evaluated in cat soleus and plantaris and performs well in both.