Control of a Hybrid Motor Prosthesis for the Knee Joint
نویسنده
چکیده
Functional Electrical Stimulation (FES) is used for gait restitution in paraplegic patients. One of the major problems is the heavily increased muscle fatigue due to unphysiological stimulation. As a possible solution, this paper introduces a hybrid neuroprosthesis for the knee joint, where muscle stimulation is complemented by a motor-driven exoskeleton. A control concept based on model predictive control is designed that employs both actuators cooperatively and varies their participation corresponding to their capabilities.Copyright c ©2005 IFAC
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