PMID: 9422458Jan 9, 1998Paper

Feedback control of unsupported standing in paraplegia--part I: optimal control approach

IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
K J HuntN de N Donaldson

Abstract

This is the first of a pair of papers which describe an investigation into the feasibility of providing artificial balance to paraplegics using electrical stimulation of the paralyzed muscles. By bracing the body above the shanks, only stimulation of the plantarflexors is necessary. This arrangement prevents any influence from the intact neuromuscular system above the spinal cord lesion. In this paper, we extend the design of the controllers to a nested-loop LQG (linear quadratic Gaussian) stimulation controller which has ankle moment feedback (inner loops) and inverted pendulum angle feedback (outer loop). Each control loop is tuned by two parameters, the control weighting and an observer rise-time, which together determine the behavior. The nested structure was chosen because it is robust, despite changes in the muscle properties (fatigue) and interference from spasticity.

References

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Jan 9, 1998·IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·M MunihF M Barr

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Citations

May 12, 2004·Computer Methods and Programs in Biomedicine·Lianfang Tian, Lars G Gilbertson
Jun 16, 2000·Medical Engineering & Physics·M MunihN Donaldson
Nov 24, 2001·Medical Engineering & Physics·K J HuntR P Jaime
Dec 18, 2002·Medical Engineering & Physics·R DavoodiG E Loeb
Dec 18, 2002·Medical Engineering & Physics·Z MatjacićT Sinkjaer
Jan 1, 2001·Neuromodulation : Journal of the International Neuromodulation Society·Zlatko Matjacic
Jan 12, 2008·Artificial Organs·Xavier TortoleroMilos R Popovic
Feb 9, 2000·Technology and Health Care : Official Journal of the European Society for Engineering and Medicine·M MiheljT Bajd
Aug 3, 2013·ISA Transactions·Hao-Bo Kang, Jian-Hui Wang
Apr 29, 2014·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Thomas P HurynH F Machiel Van der Loos
Nov 21, 2007·IEEE Transactions on Bio-medical Engineering·Rahman DavoodiGerald E Loeb
Oct 5, 2011·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Nitin SharmaWarren E Dixon
Jun 19, 1998·IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Z Matjacić, T Bajd
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
Aug 6, 1998·IEEE Transactions on Bio-medical Engineering·K J HuntF M Barr
Apr 8, 2004·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Henrik GolleeDuncan E Wood
Apr 27, 2001·IEEE Transactions on Bio-medical Engineering·H GolleeJ C Jarvis
Jan 9, 1998·IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·M MunihF M Barr
Jun 19, 1998·IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·R Davoodi, B J Andrews
Dec 6, 2003·IEEE Transactions on Bio-medical Engineering·Lotte N S Andreasen, Johannes J Struijk
Feb 10, 2004·IEEE Transactions on Bio-medical Engineering·Saso JezernikThierry Keller
Jun 19, 1998·IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·P H Veltink, N Donaldson
Apr 8, 2015·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Naji AlibejiNitin Sharma
Jul 6, 2017·Frontiers in Neuroscience·Hossein RouhaniMilos R Popovic

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