Robust closed-loop control of isometric muscle force using pulsewidth modulation

Robust closed-loop control of isometric muscle force using pulsewidth modulation

The design of feedback controllers to accurately and robustly regulate the properties of electrically stimulated muscle is considered. Reliable, precise control is necessary for the development of neuroprosthetic devices to improve gradation and repeatability of force. A digital closed-loop controll...

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Bibliographic Details
Published in:IEEE transactions on biomedical engineering Vol. 35; no. 7; pp. 510 - 517
Main Authors: Chizeck, H.J., Crago, P.E., Kofman, L.S.
Format: Journal Article
Language:English
Published: New York, NY IEEE 01-07-1988
Institute of Electrical and Electronics Engineers
Subjects:
Adaptive control
Animals
Biofeedback, Psychology
Biological and medical sciences
Cats
Digital control
Digital modulation
Electric Stimulation
Force control
Isometric Contraction
Medical sciences
Miscellaneous
Models, Biological
Muscle Contraction
Muscles
Muscles - innervation
Neural prosthesis
Pulse modulation
Radiotherapy. Instrumental treatment. Physiotherapy. Reeducation. Rehabilitation, orthophony, crenotherapy. Diet therapy and various other treatments (general aspects)
Robust control
Space vector pulse width modulation
Testing
Closed loop
Regulation(control)
Electrical properties
Force
Electrophysiology
Signal processing
Stimulation
Muscle
Neuromuscular transmission
Pulse modulation
Biomedical engineering
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Description
Summary:The design of feedback controllers to accurately and robustly regulate the properties of electrically stimulated muscle is considered. Reliable, precise control is necessary for the development of neuroprosthetic devices to improve gradation and repeatability of force. A digital closed-loop controller has been developed which regulates muscle force by modulating the pulsewidth of a constant-amplitude electrical simulation pulse train. This controller has been evaluated in slow- and fast-twitch muscles (cat soleus and plantaris) in acute experiments. In isometric tests, it was found to regulate muscle force with low sensitivity to modeling errors and disturbances while satisfying stability, repeatability, linearity, and step/ramp response criteria over a wide range of commands.< >
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ISSN:0018-9294
1558-2531
DOI:10.1109/10.4579