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Switched Adaptive Control Methods for Electrical Stimulation Induced Cycling

电刺激诱导循环的切换自适应控制方法

基本信息

批准号：
1762829
负责人：
Warren Dixon
金额：
$ 31.73万
依托单位：
University of Florida
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2018
资助国家：
美国
起止时间：
2018-06-01 至 2022-05-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1762829&HistoricalAwards=false
关键词：
Switched Adaptive Control Methods Electrical

项目摘要

This project will create new control methods to maximize the effectiveness of a commonly prescribed rehabilitation therapy for individuals with neurological conditions (NCs), including stroke, spinal cord injury, and traumatic brain injury. Functional Electrical Stimulation (FES) cycling uses an externally applied sequence of voltages to cause the individual's leg muscles to contract to propel a recumbent cycle. The repetitive, coordinated motions of cycling can help restore limb function. An electric motor is available to augment the person's own muscles, if needed. This project will determine how to switch between different muscle groups and the motor to ensure desired behaviors, despite differences in muscle strength and endurance between individuals. For example, the project will examine methods to enable an FES cycle to adapt to the individual attributes of a new participant within a known time interval. The results will be validated in populations of individuals with NCs to demonstrate clinical efficacy. This project will advance the national health by improving the quality of life for individuals with NCs. In addition to these direct benefits, the project will introduce top undergraduate students to advanced research methods in this critical area of biomechanics.This project will result in new methods of control design for uncertain nonlinear hybrid systems, including adaptation strategies and timing conditions. Essential aspects of the project include 1) the formulation of Lyapunov-based theorems to facilitate adaptive control for arbitrary switching between stable subsystems with a non-strict Lyapunov function; 2) the formulation of a dwell-time switching condition to ensure stability when switching between an uncontrolled (unstable) and adaptive controlled subsystems, as well as a data-driven method for learning a strict Lyapunov function from a given non-strict Lyapunov function; 3) the formulation of a switching controller that can bound the system response within a particular region of state space. Generalized theoretical outcomes will include new insights for the nonlinear systems and robotics communities. The experimental results will provide an inroad to longitudinal clinical studies in specific patient populations, with the potential to improve clinical outcomes.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目将创建新的控制方法，以最大限度地提高患有神经系统疾病（NC）（包括中风、脊髓损伤和创伤性脑损伤）的个人常用康复治疗的有效性。功能性电刺激（FES）自行车使用外部施加的电压序列，使个人的腿部肌肉收缩，以推动横卧自行车。骑自行车的重复，协调的运动可以帮助恢复肢体功能。如果需要的话，可以使用电动马达来增强人自己的肌肉。该项目将确定如何在不同的肌肉群和电机之间切换，以确保所需的行为，尽管个体之间的肌肉力量和耐力存在差异。例如，该项目将研究使FES周期能够在已知时间间隔内适应新参与者的个人属性的方法。将在NC个体人群中验证结果，以证明临床疗效。该项目将通过改善NC患者的生活质量来促进国民健康。除了这些直接的好处之外，该项目还将向优秀的本科生介绍生物力学这一关键领域的先进研究方法。该项目将为不确定的非线性混合系统提供新的控制设计方法，包括自适应策略和定时条件。该项目的主要方面包括：1）制定基于李雅普诺夫定理，以促进自适应控制之间的任意切换稳定的子系统与非严格李雅普诺夫函数; 2）形成停留时间切换条件，以确保当在不受控制的（不稳定）和自适应控制子系统，以及用于从给定的非严格李雅普诺夫函数学习严格李雅普诺夫函数的数据驱动方法; 3）可以将系统响应限制在状态空间的特定区域内的切换控制器的公式化。广义理论成果将包括非线性系统和机器人社区的新见解。实验结果将为特定患者人群的纵向临床研究提供进展，并有可能改善临床结局。该奖项反映了NSF的法定使命，并被认为值得通过使用基金会的知识价值和更广泛的影响审查标准进行评估来支持。