H∞ robust control design for unsupported paraplegic standing:: experimental evaluation

被引：22

作者：

Holderbaum, W ^{[1
]}

Hunt, KJ ^{[1
]}

Gollee, H ^{[1
]}

机构：

[1] Univ Glasgow, Ctr Rehabil Engn, Dept Mech Engn, Glasgow G12 8QQ, Lanark, Scotland

来源：

CONTROL ENGINEERING PRACTICE | 2002年 / 10卷 / 11期

基金：

英国工程与自然科学研究理事会;

关键词：

functional electrical stimulation; H-infinity control; biomedical systems; rehabilitation engineering;

D O I：

10.1016/S0967-0661(02)00082-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper is concerned with the design of robust feedback H-infinity-control systems for the control of the upright posture of paraplegic persons standing. While the subject stands in a special apparatus, stabilising torque at the ankle joint is generated by electrical stimulation of the paralyzed calf muscles. Since the muscles acting as actuators in this setup show a significant degree of nonlinearity, a robust H-infinity-control design is used. The design approach is implemented in experiments with a paraplegic subject. The results demonstrate good performance and closed loop stability over the whole range of operation. (C) 2002 Elsevier Science Ltd. All rights reserved.

引用

页码：1211 / 1222

页数：12

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