Model-Based Dynamic Control Allocation in a Hybrid Neuroprosthesis.
Model-Based Dynamic Control Allocation in a Hybrid Neuroprosthesis.
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DOI：
10.1109/tnsre.2017.2756023
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发表时间：
2018-01
期刊：
影响因子：
--
通讯作者：
Sharma N
中科院分区：
文献类型：
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作者：
Kirsch NA;Bao X;Alibeji NA;Dicianno BE;Sharma N
将通过功能性电刺激（FES）引起的人类肌肉力量与动力矫形器相结合的混合神经假体可能优于单独的FES或基于动力矫形器的康复系统。混合系统可以通过互补地使用来自动力外骨骼的扭矩来克服由于FES引起的肌肉疲劳而导致的扭矩减小。混合系统的第二个优点是使用人类肌肉力量可以补充动力外骨骼的动力（电机扭矩）需求;因此，潜在地减小了行走恢复系统的尺寸和重量。然而，为了实现这些优点，如何同时优化期望的控制性能和FES与电动机之间的控制输入的分配是未知的。在本文中，一个模型预测控制为基础的动态控制分配（DCA）是用来分配控制之间的FES和电动机，同时保持一个理想的膝盖角度。实验结果，描绘的DCA方法的性能，而肌肉疲劳，提出了一个健全的参与者和脊髓损伤的参与者。实验结果表明，混合系统所需的电机转矩小于单电机系统所需的电机转矩，当肌肉疲劳时，该算法可以很容易地将更多的控制输入分配给电机，混合系统所引起的肌肉疲劳小于单FES所引起的肌肉疲劳.这些结果验证了混合系统的上述优点，从而暗示了混合技术在步行康复中的潜在用途。
A hybrid neuroprosthesis that combines human muscle power, elicited through functional electrical stimulation (FES), with a powered orthosis may be advantageous over a sole FES or a powered exoskeleton-based rehabilitation system. The hybrid system can conceivably overcome torque reduction due to FES-induced muscle fatigue by complementarily using torque from the powered exoskeleton. The second advantage of the hybrid system is that the use of human muscle power can supplement the powered exoskeleton’s power (motor torque) requirements; thus, potentially reducing the size and weight of a walking restoration system. To realize these advantages, however, it is unknown how to concurrently optimize desired control performance and allocation of control inputs between FES and electric motor. In this paper, a model predictive control-based dynamic control allocation (DCA) is used to allocate control between FES and the electric motor that simultaneously maintain a desired knee angle. The experimental results, depicting the performance of the DCA method while the muscle fatigues, are presented for an able-bodied participant and a participant with spinal cord injury. The experimental results showed that the motor torque recruited by the hybrid system was less than that recruited by the motor-only system, the algorithm can be easily used to allocate more control input to the electric motor as the muscle fatigues, and the muscle fatigue induced by the hybrid system was found to be less than the fatigue induced by sole FES. These results validate the aforementioned advantages of the hybrid system; thus implying the hybrid technology’s potential use in walking rehabilitation.