Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/89592
Título: | Wearable lower limb neuroprosthesis: system architecture and control tuning |
Autor(es): | Carvalho, Simão Pedro Fernandes Machado Dias Figueiredo, Joana Santos, Cristina |
Palavras-chave: | Closed-loop control Functional electrical stimulation Wearable rehabilitation robot |
Data: | Jan-2023 |
Editora: | Springer |
Revista: | Lecture Notes in Networks and Systems |
Citação: | Carvalho, S.P., Figueiredo, J., Santos, C.P. (2023). Wearable Lower Limb Neuroprosthesis: System Architecture and Control Tuning. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_52 |
Resumo(s): | The use of functional electrical stimulation (FES) through neuroprosthesis is becoming a promising solution in lower limb neurorehabilitation. However, the wearability constraints and time-consuming tuning of stimulation parameters still limit the daily use of neuroprostheses. This work proposes two major contributions, namely: (i) a conceptual design and technical architecture of a fully wearable lower limb neuroprosthesis; and (ii) a Matlab-OpenSim framework that enables fast subject-and muscle-specific tuning of FES controllers based on OpenSim musculoskeletal models. The validation procedures for this study were divided into three phases: (i) Verification of the system architecture real-time requirements; (ii) evaluation of the reliability of the MATLAB-OpenSim framework for tuning PID controller; and (iii) its subsequent use in the neuroprosthesis control with a healthy subject. The obtained results demonstrated that the neuroprosthesis system was able to meet the real-time requirements, with control and data acquisition call periods below 10 ms. Further findings indicated reliable and stable behavior of the simulation-tuned PID controller with an overshoot of 9.82% and a rise time of 0.063 s. The trajectory tracking control results with the neuroprosthesis corroborated the robustness of the tuned PID controller in tracking the desired ankle trajectory (RMSE = 17.23 ± 2.97º and time delay = 0.21 ± 0.070 s). |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/89592 |
ISBN: | 978-3-031-15225-2 |
DOI: | 10.1007/978-3-031-15226-9_52 |
ISSN: | 2367-3370 |
Versão da editora: | https://link.springer.com/chapter/10.1007/978-3-031-15226-9_52 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CMEMS - Artigos em livros de atas/Papers in proceedings |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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camera_ready.pdf | 651,96 kB | Adobe PDF | Ver/Abrir |