Control of functional electrical stimulation in the presence of electromechanical and communication delays

In this paper, we show the feasibility of remotely controlling the elbow extension through functional electrical stimulation (FES) of the triceps muscle. Particularly, we present the experimental results obtained with the new automatic control method, designed to achieve position tracking between a...

Full description

Saved in:
Bibliographic Details
Published in2013 6th International IEEE/EMBS Conference on Neural Engineering (NER) pp. 299 - 302
Main Authors Alibeji, Naji, Kirsch, Nicholas, Sharma, Nitin
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2013
Subjects
Delay effects
Delays
Manipulators
Muscles
Neuromuscular stimulation
Online AccessGet full text
ISSN1948-3546
DOI10.1109/NER.2013.6695931

Cover

More Information
Summary:In this paper, we show the feasibility of remotely controlling the elbow extension through functional electrical stimulation (FES) of the triceps muscle. Particularly, we present the experimental results obtained with the new automatic control method, designed to achieve position tracking between a user and the remote manipulator device. The major advantage of the controller is its ability to compensate for the electromechanical delay (EMD) during an FES and the communication delay (CD) due to a remote actuation. Another advantage of the developed FES controller is that only the error state and delay knowledge are required to elicit desired muscle contractions, i.e., the control implementation does not depend on model knowledge of highly nonlinear and time-varying muscle dynamics. The experimental results show its superior performance in comparison to the proportional integral derivative (PID) controller. The control performance of the PID controller and the new controller were tested for different values of a composite delay (EMD + CD).
ISSN:1948-3546
DOI:10.1109/NER.2013.6695931