Control of FES-induced cyclical movements of the lower leg
Control of FES-induced cyclical movements of the lower leg
复制标题
控制 FES 引起的小腿周期性运动
DOI：
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复制
发表时间：
1990
影响因子：
3.2
通讯作者：
P. Veltink
中科院分区：
文献类型：
--
作者：
P. Veltink
通过股四头肌的电刺激来控制小腿的周期性运动被表述为最优控制问题。以拐点扭矩的时间积分作为优化准则。作为附加条件，每个循环都应达到某个参考最大角度。一项模型研究表明，在最大募集水平下每个周期进行一次刺激爆发是解决该问题的次优方案。为了补偿肌肉疲劳的影响，离散时间 PID 控制器根据前一个周期的性能自适应调整突发时间。这一策略在实验测试中似乎取得了成功。刺激突发结束与被动状态轨迹跟踪之间存在相当大的时间差（约0·15 s），满足最大角度条件。
The control of a cyclical movement of the lower leg with electrical stimulation of the quadriceps muscles is formulated as an optimal control problem. The time integral of knee torque is taken as the optimisation criterion. As an additional condition, every cycle a certain reference maximum angle should be reached. A model study indicates that one stimulation burst per cycle at the maximum recruitment level is a suboptimal solution to this problem. To compensate for the influence of muscle fatigue, the burst time is adaptively adjusted by a discrete time PID-controller on the basis of the performance in the previous cycles. This strategy appeared to be successful in experimental tests. A considerable time difference (about 0·15 s) was found between the end of the stimulation burst and the tracking of the passive state trajectory, which satisfies the maximum angle condition.
DOI：
10.1115/1.3138535
发表时间：
1985-01-01
影响因子：
1.7
作者：
AUDU, ML;DAVY, DT
通讯作者：
DAVY, DT