PMID: 9631320Jun 19, 1998Paper

Arm-free paraplegic standing--Part I: Control model synthesis and simulation

IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
Zlatko Matjacic, T Bajd

Abstract

The following paper is the first part of our investigation into the feasibility of arm-free paraplegic standing. A novel control strategy for unsupported paraplegic standing which utilizes the residual sensory and motor abilities of the thoracic spinal cord injured subjects is proposed. The strategy is based on voluntary and reflex activity of the paraplegic person's upper body and artificially controlled stiffness in the ankles. The knees and hips are maintained in an extended position by functional electrical stimulation (FES). The analysis of a linearized double inverted pendulum model revealed that with properly selected ankle stiffness the system can be easily stabilized. We developed a closed-loop double inverted pendulum model including a neural system delay, trunk muscles dynamics, body segmental dynamics and linear quadratic regulator (LQR) optimal controller. Through simulations of the closed-loop model two different strategies for disturbance rejection were explained. We investigated the capability of the closed-loop model to reject disturbances, imposed at the ankle joint (in anterior and posterior directions) for various stiffness levels and neural system delays in the presence of biomechanical constraints. By limi...Continue Reading

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Citations

Oct 18, 2006·Biological cybernetics·Dingguo Zhang, Kuanyi Zhu
Sep 14, 2006·Medical & Biological Engineering & Computing·Takahiro KagawaUno Yoji
Aug 15, 2000·Journal of Biomechanics·M PopovicV Dietz
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Aug 18, 2004·IEEE Transactions on Bio-medical Engineering·Matjaz Mihelj, Marko Munih
Feb 13, 2004·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Jaap H van der SpekHerman B K Boom
Mar 4, 2003·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Ralf-Peter JaimeKenneth J Hunt
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