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Robust Compensation of Electromechanical Delay during Neuromuscular Electrical Stimulation of Antagonistic Muscles

Qiu, Tianyi (2016) Robust Compensation of Electromechanical Delay during Neuromuscular Electrical Stimulation of Antagonistic Muscles. Master's Thesis, University of Pittsburgh. (Unpublished)

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Neuromuscular electrical stimulation (NMES) can potentially be used to restore the limb function in persons with neurological disorders, such as spinal cord injury (SCI), stroke, etc.
Researches on control system design has so far focused on relatively simple unidirectional NMES applications requiring stimulation of single muscle group. However, for some advanced tasks such as pedaling or walking, stimulation of multiple muscles is required. For example, to extend as well as flex a limb joint requires electrical stimulation of an antagonistic muscle pair. This is due to the fact that muscles are unidirectional actuators. The control challenge is to allocate control inputs to antagonist muscles based on the system output, usually a limb angle error to achieve a smooth and precise transition between antagonistic muscles without causing discontinuities. Furthermore, NMES input to each muscle is delayed by an electromechanical delay (EMD), which arises due to the time lag between the electrical excitation and the force development in muscle. And EMD is known to cause instability or performance loss during closed-loop control of NMES.
In this thesis, a robust delay compensation controller for EMDs in antagonistic muscles is presented. A Lyapunov stability analysis yields uniformly ultimately bounded tracking for a human limb joint actuated by antagonistic muscles. The simulation results indicate that the controller is robust and effective in switching between antagonistic muscles and compensating EMDs during a simulated NMES task. Further experiments on a dual motor testbed shows its feasibility as an NMES controller for human antagonistic muscles.


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Item Type: University of Pittsburgh ETD
Status: Unpublished
CreatorsEmailPitt UsernameORCID
Qiu, Tianyitiq5@pitt.eduTIQ50000-0001-8744-6504
ETD Committee:
TitleMemberEmail AddressPitt UsernameORCID
Committee ChairSharma, Nitinnis62@pitt.eduNIS62
Committee MemberClark, Williamwclark@pitt.eduWCLARK
Committee MemberMao, Zhi-Hongzhm4@pitt.eduZHM4
Date: 15 June 2016
Date Type: Publication
Defense Date: 31 March 2016
Approval Date: 15 June 2016
Submission Date: 25 March 2016
Access Restriction: No restriction; Release the ETD for access worldwide immediately.
Number of Pages: 64
Institution: University of Pittsburgh
Schools and Programs: Swanson School of Engineering > Mechanical Engineering
Degree: MS - Master of Science
Thesis Type: Master's Thesis
Refereed: Yes
Uncontrolled Keywords: NMES, Lyapunov stability analysis, EMD, Delay compenstaion, Antagonist muscles
Date Deposited: 15 Jun 2016 13:12
Last Modified: 15 Nov 2016 14:32


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