Arm-free paraplegic standing. I. Control model synthesis and simulation
This paper is the first part of the authors' investigation into the feasibility of arm-free paraplegic standing. A novel control strategy for unsupported paraplegic standing which utilizes the residual sensory and motor abilities of the thoracic spinal cord injured subjects is proposed. The str...
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| Published in | IEEE transactions on rehabilitation engineering Vol. 6; no. 2; pp. 125 - 138 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English Japanese |
| Published |
IEEE
01.06.1998
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1063-6528 |
| DOI | 10.1109/86.681178 |
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| Abstract | This paper is the first part of the authors' investigation into the feasibility of arm-free paraplegic standing. A novel control strategy for unsupported paraplegic standing which utilizes the residual sensory and motor abilities of the thoracic spinal cord injured subjects is proposed. The strategy is based on voluntary and reflex activity of the paraplegic person's upper body and artificially controlled stiffness in the ankles. The knees and hips are maintained in an extended position by functional electrical stimulation (FES). The analysis of a linearized double inverted pendulum model revealed that with properly selected ankle stiffness the system can be easily stabilized. The authors developed a closed-loop double inverted pendulum model including a neural system delay, trunk muscles dynamics, body segmental dynamics and linear quadratic regulator (LQR) optimal controller. Through simulations of the closed-loop model two different strategies for disturbance rejection were explained. The authors investigated the capability of the closed-loop model to reject disturbances, imposed at the ankle joint (in anterior and posterior directions) for various stiffness levels and neural system delays in the presence of biomechanical constraints. By limiting permissible excursions of the center of pressure, the authors found out that the length of the foot is the most important constraint, while the strength of the trunk muscles is not of major importance for successful balancing. An ankle stiffness of approximately 10 Nm//spl deg/ suffices for arm-free standing of paraplegic subjects. |
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| AbstractList | This paper is the first part of the authors' investigation into the feasibility of arm-free paraplegic standing. A novel control strategy for unsupported paraplegic standing which utilizes the residual sensory and motor abilities of the thoracic spinal cord injured subjects is proposed. The strategy is based on voluntary and reflex activity of the paraplegic person's upper body and artificially controlled stiffness in the ankles. The knees and hips are maintained in an extended position by functional electrical stimulation (FES). The analysis of a linearized double inverted pendulum model revealed that with properly selected ankle stiffness the system can be easily stabilized. The authors developed a closed-loop double inverted pendulum model including a neural system delay, trunk muscles dynamics, body segmental dynamics and linear quadratic regulator (LQR) optimal controller. Through simulations of the closed-loop model two different strategies for disturbance rejection were explained. The authors investigated the capability of the closed-loop model to reject disturbances, imposed at the ankle joint (in anterior and posterior directions) for various stiffness levels and neural system delays in the presence of biomechanical constraints. By limiting permissible excursions of the center of pressure, the authors found out that the length of the foot is the most important constraint, while the strength of the trunk muscles is not of major importance for successful balancing. An ankle stiffness of approximately 10 Nm//spl deg/ suffices for arm-free standing of paraplegic subjects. |
| Author | Matjacic, Z. Bajd, T. |
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| References | ref13 ref12 ref15 skogestad (ref28) 1996 ref31 ref30 horak (ref14) 1986; 55 ref17 ref16 ref19 ref18 munih (ref10) 1996 kralj (ref4) 1986; 24 axelson (ref2) 1987 ref24 ref23 ref26 ref25 ref20 ref22 matjacˇic (ref11) 1996 munih (ref9) 1996 ref21 ref27 ref29 ref8 ref7 ref6 kralj (ref1) 1989 ref5 chizek (ref3) 1992 |
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| SubjectTerms | Delay systems Fatigue Hip Knee Legged locomotion Muscles Neuromuscular stimulation Optimal control Robust stability Spinal cord |
| Title | Arm-free paraplegic standing. I. Control model synthesis and simulation |
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