Open-loop position control of the knee joint using electrical stimulation of the quadriceps and hamstrings
Functional electrical stimulation
Feed forward
Neuroprosthetics
Position (finance)
DOI:
10.1007/bf02446709
Publication Date:
2006-07-29T23:35:28Z
AUTHORS (2)
ABSTRACT
The clinical acceptability of functional electrical stimulation (FES) as an aid for restoration of paraplegic gait is limited by the inability to accurately and repeatedly position the lower extremity. To gain insight into the causes of and possible solutions to this problem, the responses of the quadriceps and hamstrings to FES were studied in able-bodied subjects. Isometric torque was dependent on knee angle and changed unpredictably with time. An open-loop feedforward knee-joint position controller was also tested. The results demonstrated that it is beneficial to account for the dependence of torque on position, that modifications to this open-loop controller might improve accuracy and that closed-loop control may be essential for functional restoration of gait.
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