PMID: 9444835Jan 28, 1998Paper

Stability and a control strategy of a multilink musculoskeletal model with applications in FES

IEEE Transactions on Bio-medical Engineering
Behzad DariushH Hemami

Abstract

This paper introduces a relegated control strategy for point-to-point movement of musculoskeletal systems driven by redundant actuators. The actuator system is partitioned to two functional groupings referred to as gravity compensators and movement generators. Unlike dynamic optimization methods, relegation of control enables real-time computation of control signals to the muscle actuators. It is shown that this strategy significantly reduces the degree of coactivation needed to stabilize the movement. The real-time nature of this strategy coupled with reduced coactivation makes the proposed strategy amenable for multichannel control of parapalegics through functional electrical stimulation. Stimulations of a three-link sagittal system are conducted to test the algorithm for a bowing movement.

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Citations

Nov 18, 2006·Journal of Mathematical Biology·Peter Giesl, Heiko Wagner
Feb 18, 2004·Computer Methods in Biomechanics and Biomedical Engineering·John Michael RaskRonald E Barr
Sep 13, 2005·Computer Methods in Biomechanics and Biomedical Engineering·Vahid GolkhouCaro Lucas
Jan 20, 2011·Computer Methods in Biomechanics and Biomedical Engineering·Shahrokh Zeinali-DavaraniMohamad Parnianpour
Jun 9, 2010·Journal of Biomechanical Engineering·Michael J Koehle, M L Hull
Nov 13, 2012·Neural Networks : the Official Journal of the International Neural Network Society·Hooshang Hemami, Behzad Dariush
Dec 28, 2006·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Hooshang HemamiYi-Chung Pai
Feb 29, 2008·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Shahrokh Zeinali-DavaraniMohamad Parnianpour
Nov 29, 2014·Medical & Biological Engineering & Computing·Mourad BenoussaadDavid Guiraud
Jan 4, 2013·Computer Methods in Biomechanics and Biomedical Engineering·Hooshang Hemami, Zahra Moussavi
Oct 19, 2000·Journal of Biomechanical Engineering·B DariushM Parnianpour
May 16, 2014·Journal of Biomechanical Engineering·Bahman NasseroleslamiMohamad Parnianpour
May 18, 2006·Physiological Measurement·Ahmad KeshtkarRod H Smallwood
Oct 5, 2002·Journal of Neurophysiology·Pietro G Morasso, Vittorio Sanguineti

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