Polytopic uncertainties identification for electrically stimulated lower limbs
Autor(a) principal: | |
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Data de Publicação: | 2019 |
Outros Autores: | , , , , |
Tipo de documento: | Artigo de conferência |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.1007/978-981-13-2119-1_52 http://hdl.handle.net/11449/187775 |
Resumo: | Functional electrical stimulation (FES) has been used for a wide range of applications in individuals with spinal cord injury. Spinal cord injury rehabilitation modalities based on FES include gait training programs, restoration human-body vital function, and others. The various control methodologies require a system mathematical model, therefore, it is necessary to identify the parameters of this system. It is an extremely complex challenge to control the knee angle or the torque shank-foot complex through the functional electrical stimulation applied to the muscle. The response of the stimulated muscle is nonlinear and time-varying, allowing the fatigue occurrence due to muscle fibers non-physiological recruitment and altered muscle composition caused by FES. Relevant studies show that system developed in closed-loop satisfactorily deals with disturbances and uncertainties of the plant to be controlled. The contribution of this paper is to propose an analysis about polytopic uncertainties identification of the electrically stimulated lower limbs model. Knowing a priori the uncertain parameters of the linearized plant, the performance of a possible controller could be more efficient. In future works, it will be possible to design robust control techniques via linear matrix inequalities. Through this study, it is possible to work a large sample of volunteers with the objective of measuring muscular behavior when using the FES application. |
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Polytopic uncertainties identification for electrically stimulated lower limbsFunctional electrical stimulationIdentificationOpen loopUncertaintiesFunctional electrical stimulation (FES) has been used for a wide range of applications in individuals with spinal cord injury. Spinal cord injury rehabilitation modalities based on FES include gait training programs, restoration human-body vital function, and others. The various control methodologies require a system mathematical model, therefore, it is necessary to identify the parameters of this system. It is an extremely complex challenge to control the knee angle or the torque shank-foot complex through the functional electrical stimulation applied to the muscle. The response of the stimulated muscle is nonlinear and time-varying, allowing the fatigue occurrence due to muscle fibers non-physiological recruitment and altered muscle composition caused by FES. Relevant studies show that system developed in closed-loop satisfactorily deals with disturbances and uncertainties of the plant to be controlled. The contribution of this paper is to propose an analysis about polytopic uncertainties identification of the electrically stimulated lower limbs model. Knowing a priori the uncertain parameters of the linearized plant, the performance of a possible controller could be more efficient. In future works, it will be possible to design robust control techniques via linear matrix inequalities. Through this study, it is possible to work a large sample of volunteers with the objective of measuring muscular behavior when using the FES application.IFPR-Federal Institute of Paraná, José Felipe Tequinha St.UTFPR-Federal University of Technology – ParanáDepartment of Electrical Engineering UNESP - São Paulo State UniversityDepartment of Electrical Engineering UNESP - São Paulo State UniversityIFPR-Federal Institute of ParanáUTFPR-Federal University of Technology – ParanáUniversidade Estadual Paulista (Unesp)Teodoro, R. G. [UNESP]Nunes, W. R.B.M. [UNESP]Sanches, M. A.A. [UNESP]de Araujo, R. A. [UNESP]Teixeira, M. C.M. [UNESP]de Carvalho, A. A. [UNESP]2019-10-06T15:46:52Z2019-10-06T15:46:52Z2019-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject337-342http://dx.doi.org/10.1007/978-981-13-2119-1_52IFMBE Proceedings, v. 70, n. 1, p. 337-342, 2019.1680-0737http://hdl.handle.net/11449/18777510.1007/978-981-13-2119-1_522-s2.0-85067549919Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengIFMBE Proceedingsinfo:eu-repo/semantics/openAccess2021-10-23T02:54:05Zoai:repositorio.unesp.br:11449/187775Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T22:11:46.853547Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
Polytopic uncertainties identification for electrically stimulated lower limbs |
title |
Polytopic uncertainties identification for electrically stimulated lower limbs |
spellingShingle |
Polytopic uncertainties identification for electrically stimulated lower limbs Teodoro, R. G. [UNESP] Functional electrical stimulation Identification Open loop Uncertainties |
title_short |
Polytopic uncertainties identification for electrically stimulated lower limbs |
title_full |
Polytopic uncertainties identification for electrically stimulated lower limbs |
title_fullStr |
Polytopic uncertainties identification for electrically stimulated lower limbs |
title_full_unstemmed |
Polytopic uncertainties identification for electrically stimulated lower limbs |
title_sort |
Polytopic uncertainties identification for electrically stimulated lower limbs |
author |
Teodoro, R. G. [UNESP] |
author_facet |
Teodoro, R. G. [UNESP] Nunes, W. R.B.M. [UNESP] Sanches, M. A.A. [UNESP] de Araujo, R. A. [UNESP] Teixeira, M. C.M. [UNESP] de Carvalho, A. A. [UNESP] |
author_role |
author |
author2 |
Nunes, W. R.B.M. [UNESP] Sanches, M. A.A. [UNESP] de Araujo, R. A. [UNESP] Teixeira, M. C.M. [UNESP] de Carvalho, A. A. [UNESP] |
author2_role |
author author author author author |
dc.contributor.none.fl_str_mv |
IFPR-Federal Institute of Paraná UTFPR-Federal University of Technology – Paraná Universidade Estadual Paulista (Unesp) |
dc.contributor.author.fl_str_mv |
Teodoro, R. G. [UNESP] Nunes, W. R.B.M. [UNESP] Sanches, M. A.A. [UNESP] de Araujo, R. A. [UNESP] Teixeira, M. C.M. [UNESP] de Carvalho, A. A. [UNESP] |
dc.subject.por.fl_str_mv |
Functional electrical stimulation Identification Open loop Uncertainties |
topic |
Functional electrical stimulation Identification Open loop Uncertainties |
description |
Functional electrical stimulation (FES) has been used for a wide range of applications in individuals with spinal cord injury. Spinal cord injury rehabilitation modalities based on FES include gait training programs, restoration human-body vital function, and others. The various control methodologies require a system mathematical model, therefore, it is necessary to identify the parameters of this system. It is an extremely complex challenge to control the knee angle or the torque shank-foot complex through the functional electrical stimulation applied to the muscle. The response of the stimulated muscle is nonlinear and time-varying, allowing the fatigue occurrence due to muscle fibers non-physiological recruitment and altered muscle composition caused by FES. Relevant studies show that system developed in closed-loop satisfactorily deals with disturbances and uncertainties of the plant to be controlled. The contribution of this paper is to propose an analysis about polytopic uncertainties identification of the electrically stimulated lower limbs model. Knowing a priori the uncertain parameters of the linearized plant, the performance of a possible controller could be more efficient. In future works, it will be possible to design robust control techniques via linear matrix inequalities. Through this study, it is possible to work a large sample of volunteers with the objective of measuring muscular behavior when using the FES application. |
publishDate |
2019 |
dc.date.none.fl_str_mv |
2019-10-06T15:46:52Z 2019-10-06T15:46:52Z 2019-01-01 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/conferenceObject |
format |
conferenceObject |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://dx.doi.org/10.1007/978-981-13-2119-1_52 IFMBE Proceedings, v. 70, n. 1, p. 337-342, 2019. 1680-0737 http://hdl.handle.net/11449/187775 10.1007/978-981-13-2119-1_52 2-s2.0-85067549919 |
url |
http://dx.doi.org/10.1007/978-981-13-2119-1_52 http://hdl.handle.net/11449/187775 |
identifier_str_mv |
IFMBE Proceedings, v. 70, n. 1, p. 337-342, 2019. 1680-0737 10.1007/978-981-13-2119-1_52 2-s2.0-85067549919 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
IFMBE Proceedings |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
337-342 |
dc.source.none.fl_str_mv |
Scopus reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
_version_ |
1808129403057602560 |