Control of a Hybrid Motor Prosthesis for the Knee Joint
| Authors: | Vallery Heike, Technische Universität München,, Germany
Stützle Thorsten, RWTH Aachen University, Germany
Buss Martin, TU München, Germany
Abel Dirk, RWTH Aachen University, Germany |
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| Topic: | 4.5 Human Machine Systems |
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| Session: | Emotions and Human Behaviour |
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| Keywords: | redundant manipulators, adaptive control |
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Abstract
Functional Electrical Stimulation (FES) is used for gait restitution inparaplegic patients. One of the major problems is the heavily increased musclefatigue due to unphysiological stimulation. As a possible solution, this paperintroduces a hybrid neuroprosthesis for the knee joint, where muscle stimulation iscomplemented by a motor-driven exoskeleton. A control concept based on modelpredictive control is designed that employs both actuators cooperatively and variestheir participation corresponding to their capabilities.
