Conditional feedback control of upper limb rehabilitation system based on functional electrical stimulation

被引：1
|
作者：
Wu Z.-L. [1 ]
Huo B.-Y. [1 ]
Qin Y.-H. [1 ]
Liu Y.-H. [1 ]
Li D.-H. [2 ]
机构：
[1] School of Electrical Engineering, Zhengzhou University, Henan, Zhengzhou
[2] State Key Lab of Power System, Tsinghua University, Beijing
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2022年 / 39卷 / 06期
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
conditional feedback control; functional electrical stimulation; proportional-integral; robustness; upper limb rehabilitation system;
D O I：
10.7641/CTA.2021.00908
中图分类号：
学科分类号：
摘要：
Functional electrical stimulation is an effective rehabilitation method for stroke patients, however, the muscular dynamic models of upper limbs face many control difficulties such as strong nonlinearity, multi-source disturbance, inaccurate model and large-varying parameters. In order to improve the tracking speed and disturbance rejection ability of the upper limb rehabilitation system based on functional electrical stimulation, a proportional-integral control strategy based on conditional feedback control is proposed in this paper, where the design of conditional feedback can improve the tracking performance, and the external disturbance and the model uncertainties are handled by proportional-integral controller. Based on the influence analyses on the control performance by the single variable method, a simple and practical tuning rule is proposed. Based on the Hammerstein model of musculoskeletal system, simulation results show that the proposed control method can obtain better tracking and disturbance rejection performance than the regular proportional-integral controller with stronger robustness. Finally, comparative experiments are carried out with different target output forces on different experimenters based on the control platform of upper limb rehabilitation system based on functional electrical stimulation. Experimental data indicate that the average peak proportion of the proposed proportional-integral control strategy based on conditional feedback control is 9.22%, while the average peak proportion of the comparative control strategy is 17.80%. Besides, the average unit integral of absolute error index of the proposed control strategy is 70.43% of the average unit absolute error index of the comparative control strategy. It can be learnt that the proposed control strategy can obtain better tracking performance with satisfactory robustness of the closed-loop system. © 2022 South China University of Technology. All rights reserved.
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页码：1079 / 1087
页数：8
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