Title :
LQG moment control in the paraplegic´s ankle joint
Author :
Munih, M. ; Hunt, K. ; Donaldson, N. ; Barr, F.M.D.
Author_Institution :
Fac. of Electr. Eng., Ljubljana Univ., Slovenia
fDate :
31 Oct-3 Nov 1996
Abstract :
A digital Linear Quadratic Gaussian (LQG) controller for the ankle plantarflexors has been designed and tested in a paraplegic. Parametric linear identification, reference tracking and disturbance rejection tests of the controller were done in the Wobbler apparatus. Even though moments generated by paraplegic´s plantarflexors are smaller than in normals, excellent reference tracking and fairly good disturbance signal rejection was found
Keywords :
biocontrol; biomechanics; controllers; identification; mechanical variables control; muscle; orthotics; Wobbler apparatus; ankle plantarflexors; digital linear quadratic Gaussian controller; disturbance rejection tests; disturbance signal rejection; parametric linear identification; paraplegic´s ankle joint; reference tracking; Electrodes; Fatigue; Feedback control; Medical control systems; Medical tests; Muscles; Open loop systems; Pulse width modulation; Testing; Transfer functions;
Conference_Titel :
Engineering in Medicine and Biology Society, 1996. Bridging Disciplines for Biomedicine. Proceedings of the 18th Annual International Conference of the IEEE
Conference_Location :
Amsterdam
Print_ISBN :
0-7803-3811-1
DOI :
10.1109/IEMBS.1996.657030
