Title :
High frequency reject MRACS for smooth joint movement
Author :
Fujita, Kinya ; Minamitani, Haruyuki ; Itakura, Naoaki ; Iguchi, Yasuhiko
Author_Institution :
Dept. of Electr. Eng., Sagami Inst. of Technol., Fujisawa, Japan
Abstract :
A model reference adaptive control system (MRACS) is proposed for reduction of oscillatory joint movement frequently observed in closed-loop functional neuromuscular stimulation (FNS). The modified methods presented are as follows: (1) the transfer function of the musculoskeletal system is identified from high-frequency rejected input-output signals; (2) the controller is modified to reject the high-frequency components from the feedback loop; and (3) coactivation of the agonist and antagonist is applied. Joint angle control of knee and ankle are carried out on normal subjects and paraplegic patients. An obvious smoothness improvement is attained in comparison to a conventional MRACS
Keywords :
biocontrol; biomechanics; agonist and antagonist coactivation; ankle; closed-loop functional neuromuscular stimulation; feedback loop; high-frequency rejected input-output signals; joint angle control; knee; model reference adaptive control system; normal subjects; oscillatory joint movement reduction; paraplegic patients; smooth joint movement; smoothness; transfer function; Adaptive control; Capacitive sensors; Control systems; Feedback loop; Frequency; Gravity; Joints; Knee; Muscles; Space vector pulse width modulation;
Conference_Titel :
Engineering in Medicine and Biology Society, 1989. Images of the Twenty-First Century., Proceedings of the Annual International Conference of the IEEE Engineering in
Conference_Location :
Seattle, WA
DOI :
10.1109/IEMBS.1989.96294
