Experimental demonstration of a delay compensating controller in a hybrid walking neuroprosthesis
Experimental demonstration of a delay compensating controller in a hybrid walking neuroprosthesis
复制标题
混合步行神经假体中延迟补偿控制器的实验演示
DOI：
10.1109/ner.2017.8008390
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
N. Sharma
中科院分区：
文献类型：
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作者：
Albert Dodson;Naji Alibeji;N. Sharma
混合神经假体是一种使用电动马达和功能性电刺激（FES）组合来提供步态辅助的器械。其闭环控制性能可能会受到机电延迟（EMD）的存在下，在FES。在本文中，跟踪控制方案的混合步行神经假体，结合电动机驱动在髋关节和FES驱动在膝关节。膝关节控制器使用延迟补偿技术来补偿FES期间的EMD。该神经假体控制器结合在有限状态机内，该有限状态机还具有步态检测功能，其中足部中的力传感器可以检测步态阶段并创建完全自动化和功能辅助的步态周期。在一个健全的主体上进行实验，以证明跟踪控制方案的有效性。实验结果表明，髋关节的最大误差小于1度，膝关节的最大误差为13.66度。拐点处的最大误差归因于由FES的单向致动引起的过冲。
A hybrid neuroprosthesis is a device that uses a combination of electric motors and functional electrical stimulation (FES) to provide gait assistance. Its closed-loop control performance can be potentially affected by the presence of electromechanical delay (EMD) during FES. In this paper, a tracking control scheme for a hybrid walking neuroprosthesis that combines electric motor actuation at the hip and FES actuation at the knee is presented. The knee joint controller uses a delay compensation technique to compensate for EMD during FES. This neuroprosthesis controller is combined within a finite state machine that also features gait detection, wherein force sensors in the foot can detect gait phases and create a fully automated and functional assisted gait cycle. Experiments were performed on an able bodied subject to demonstrate the efficacy of the tracking control scheme. Results from the experiments show a maximum error at the hip of less than 1 degree and a maximum error at the knee of 13.66 degrees. The maximum error at the knee is attributed to overshoot caused by the unidirectional actuation of the FES.