Wearable Lower Limb Neuroprosthesis: System Architecture and Control Tuning

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Wearable Lower Limb Neuroprosthesis: System Architecture and Control Tuning

Carvalho, Simão P. / Figueiredo, Joana / Santos, Cristina P.

The use of functional electrical stimulation (FES) through neuroprosthesis is becoming a promising solution in lower limb neurorehabilitation. However, the wearability constraints and time-consuming tuning of stimulation parameters still limit the daily use of neuroprostheses. This work proposes two major contributions, namely: (i) a conceptual design and technical architecture of a fully wearable lower limb neuroprosthesis; and (ii) a Matlab-OpenSim framework that enables fast subject-and muscle-specific tuning of FES controllers based on OpenSim musculoskeletal models. The validation procedures for this study were divided into three phases: (i) Verification of the system architecture real-time requirements; (ii) evaluation of the reliability of the MATLAB-OpenSim framework for tuning PID controller; and (iii) its subsequent use in the neuroprosthesis control with a healthy subject. The obtained results demonstrated that the neuroprosthesis system was able to meet the real-time requirements, with control and data acquisition call periods below 10 ms. Further findings indicated reliable and stable behavior of the simulation-tuned PID controller with an overshoot of 9.82% and a rise time of 0.063 s. The trajectory tracking control results with the neuroprosthesis corroborated the robustness of the tuned PID controller in tracking the desired ankle trajectory (RMSE = 17.23 ± 2.97º and time delay = 0.21 ± 0.070 s).

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Dokumentinformationen

Titel :

Wearable Lower Limb Neuroprosthesis: System Architecture and Control Tuning

Weitere Titelangaben:

Lect. Notes in Networks, Syst.

Beteiligte:

Cascalho, José M. (Herausgeber:in) / Tokhi, Mohammad Osman (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Mendes, Armando (Herausgeber:in) / Goher, Khaled (Herausgeber:in) / Funk, Matthias (Herausgeber:in) / Carvalho, Simão P. (Autor:in) / Figueiredo, Joana (Autor:in) / Santos, Cristina P. (Autor:in)

Kongress:

Climbing and Walking Robots Conference ; 2022 ; Ponta Delgada, Portugal September 12, 2022 - September 14, 2022

Erschienen in:

Robotics in Natural Settings ; Kapitel : 52 ; 572-583

Lecture Notes in Networks and Systems ; 530

Erscheinungsdatum :

2022-08-25

Format / Umfang :

12 pages

ISBN :

978-3-031-15226-9 , 978-3-031-15225-2

ISSN :