The adaptive drop foot stimulator - Multivariable learning control of foot pitch and roll motion in paretic gait
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- 作者：Thomas Seel ; a ; seel@control.tu-berlin.de" class="auth_mail" title="E-mail the corresponding author ; Cordula Wernerb ; Thomas Schauera
- 关键词：Biomedical systems ; Rehabilitation engineering ; Drop foot syndrome ; Neuroprosthetics ; Functional electrical stimulation ; Inertial sensor ; Gait phase detection ; Foot motion assessment ; Iterative learning control ; Multivariable control systems ; Validation by experiments
- 刊名：Medical Engineering & Physics
- 出版年：2016
- 出版时间：November 2016
- 年：2016
- 卷：38
- 期：11
- 页码：1205-1213
- 全文大小：1814 K
文摘
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An adaptive system for drop foot treatment is designed using feedback controlled FES.
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An inertial sensor yields realtime gait phase detection and foot orientation angles.
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A two-channel setup with three electrodes for recruitment of two major shank muscles.
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Nonlinear parameterization of FES intensities for decoupling of foot roll and pitch.
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Learning controller automatically achieves and maintains physiological foot motion.