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Nonlinear FES Control of Knee Joint by Inversely Compensated Feedback System

Gwang-Moon Eom, Jae-Kwan Lee, Kyeong-Seop Kim*, Takashi Watanabe, and Ryoko Futami
International Journal of Control, Automation, and Systems, vol. 4, no. 3, pp.302-307, 2006

Abstract : The aim of applying Functional Electrical Stimulation (FES) is to restore a person’s motor function by directly supplying the controlled electrical currents to the site of the paralyzed muscles. However, most clinically utilized FES systems have adapted an open-loop control scheme. Recently the closed-loop control scheme has been considered for setting up the FES system, but due to the inherent nonlinearities in the musculoskeletal system, the nonlinearities were not fully compensated and it caused the oscillatory responses for tracking the output variables. In this study, a nonlinear controller model that has two inverse compensation units is proposed with the compromising feedback linearization method and this will eventually be used to design the FES control system for stimulating a knee joint musculoskeletal system.

Keyword : Feedback linearization, FES, inverse compensation, knee joint musculoskeletal system, nonlinear control.

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