Isometric Torque Control for Neuromuscular Electrical Stimulation With Time-Varying Input Delay
Isometric Torque Control for Neuromuscular Electrical Stimulation With Time-Varying Input Delay
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DOI：
10.1109/tcst.2015.2470637
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发表时间：
2016-05-01
影响因子：
4.8
通讯作者：
Dixon, Warren E.
中科院分区：
文献类型：
--
作者：
Merad, Manelle;Downey, Ryan J.;Dixon, Warren E.
先前的结果已经显示了实验证据，即对神经肌肉电刺激（NMES）的肌肉反应是延迟的;时间滞后通常被称为机电延迟。已经开发了NMES闭环控制方法来补偿已知的恒定输入延迟。然而，随着肌肉疲劳，这种延迟增加。本文提出了一种反馈控制器，鲁棒补偿时变时滞的不确定肌肉模型在等距收缩。证明了该控制器具有全局一致最终有界的转矩跟踪误差。实验结果表明，所开发的控制器的有效性和时变性质的延迟响应。
Previous results have shown experimental evidence that the muscle response to neuromuscular electrical stimulation (NMES) is delayed; the time lag is often referred to as electromechanical delay. NMES closed-loop control methods have been developed to compensate for a known constant input delay. However, as a muscle fatigues, this delay increases. This paper develops a feedback controller that robustly compensates for the time-varying delay of an uncertain muscle model during isometric contractions. The controller is proven to yield global uniformly ultimately bounded torque tracking error. Experimental results illustrate the effectiveness of the developed controller and the time-varying nature of the delayed response.