Cooperative Control for Knee Joint Flexion-Extension Movement Restoration

This paper describes a cooperative control approach that combines the use of a powered knee joint orthosis along with Functional Electrical Stimulation (FES) for knee joint flexion-extension movement restoration. A closed-loop adaptive control and an open-loop FES of the quadriceps muscle group are...

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Published in2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 5175 - 5180
Main Authors Alouane, Mohamed Amine, Rifai, Hala, Amirat, Yacine, Mohammed, Samer
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2018
Subjects
Estimation
Fatigue
Iron
Knee
Muscles
Torque
Trajectory
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Summary:This paper describes a cooperative control approach that combines the use of a powered knee joint orthosis along with Functional Electrical Stimulation (FES) for knee joint flexion-extension movement restoration. A closed-loop adaptive control and an open-loop FES of the quadriceps muscle group are combined together to track a desired knee joint angle trajectory of flexion/extension movements. A nonlinear disturbance observer is used to estimate the torque provided by the subject's muscles through the FES. Simulations and experiments with a healthy subject show the feasibility of the proposed approach. Experiments show the repeatability of motion and the complementarity between the torque provided by the quadriceps muscle through FES and the one delivered by the orthosis actuator to ensure satisfactory tracking of the desired trajectory.
ISSN:2153-0866
DOI:10.1109/IROS.2018.8594230