Biomaterial Database

Sliding mode closed-loop control of FES: controlling the shank movement. 2004

Saso Jezernik, and Ruben G V Wassink, and Thierry Keller

Spinal Cord Injury Center ParaCare, University Hospital Balgrist, Zürich, Switzerland. jezernik@aut.ee.ethz.ch

Functional electrical stimulation (FES) enables restoration of movement in individuals with spinal cord injury. FES-based devices use electric current pulses to stimulate and excite the intact peripheral nerves. They produce muscle contractions, generate joint torques, and thus, joint movements. Since the underlying neuromuscular-skeletal system is highly nonlinear and time-varying, feedback control is necessary for accurate control of the generated movement. However, classical feedback/closed-loop control algorithms have so far failed to provide satisfactory performance and were not able to guarantee stability of the closed-loop system. Because of this, only open-loop controlled FES devices are in clinical use in spite of their limitations. The purpose of the reported research was to design a novel closed-loop FES controller that achieves good tracking performance and guarantees closed-loop stability. Such a controller was designed based on a mathematical neuromuscular-skeletal model and is founded on a sliding mode control theory. The controller was used to control shank movement and was tested in computer simulations as well as in actual experiments on healthy and spinal cord injured subjects. It demonstrated good robustness, stability, and tracking performance properties.

UI	MeSH Term	Description	Entries
D007717	Knee	A region of the lower extremity immediately surrounding and including the KNEE JOINT.
D007866	Leg	The inferior part of the lower extremity between the KNEE and the ANKLE.	Legs
D008959	Models, Neurological	Theoretical representations that simulate the behavior or activity of the neurological system, processes or phenomena; includes the use of mathematical equations, computers, and other electronic equipment.	Neurologic Models,Model, Neurological,Neurologic Model,Neurological Model,Neurological Models,Model, Neurologic,Models, Neurologic
D009068	Movement	The act, process, or result of passing from one place or position to another. It differs from LOCOMOTION in that locomotion is restricted to the passing of the whole body from one place to another, while movement encompasses both locomotion but also a change of the position of the whole body or any of its parts. Movement may be used with reference to humans, vertebrate and invertebrate animals, and microorganisms. Differentiate also from MOTOR ACTIVITY, movement associated with behavior.	Movements
D010243	Paralysis	A general term most often used to describe severe or complete loss of muscle strength due to motor system disease from the level of the cerebral cortex to the muscle fiber. This term may also occasionally refer to a loss of sensory function. (From Adams et al., Principles of Neurology, 6th ed, p45)	Palsy,Plegia,Todd Paralysis,Todd's Paralysis,Palsies,Paralyses,Paralysis, Todd,Paralysis, Todd's,Plegias,Todds Paralysis
D010264	Paraplegia	Severe or complete loss of motor function in the lower extremities and lower portions of the trunk. This condition is most often associated with SPINAL CORD DISEASES, although BRAIN DISEASES; PERIPHERAL NERVOUS SYSTEM DISEASES; NEUROMUSCULAR DISEASES; and MUSCULAR DISEASES may also cause bilateral leg weakness.	Paralysis, Lower Extremities,Paraplegia, Spastic,Spastic Paraplegia,Paralysis, Legs,Paralysis, Lower Limbs,Paraplegia, Ataxic,Paraplegia, Cerebral,Paraplegia, Flaccid,Paraplegia, Spinal,Ataxic Paraplegia,Ataxic Paraplegias,Cerebral Paraplegia,Cerebral Paraplegias,Flaccid Paraplegia,Flaccid Paraplegias,Paraplegias,Paraplegias, Ataxic,Paraplegias, Cerebral,Paraplegias, Flaccid,Paraplegias, Spastic,Paraplegias, Spinal,Spastic Paraplegias,Spinal Paraplegia,Spinal Paraplegias
D011474	Prosthesis Design	The plan and delineation of prostheses in general or a specific prosthesis.	Design, Prosthesis,Designs, Prosthesis,Prosthesis Designs
D003198	Computer Simulation	Computer-based representation of physical systems and phenomena such as chemical processes.	Computational Modeling,Computational Modelling,Computer Models,In silico Modeling,In silico Models,In silico Simulation,Models, Computer,Computerized Models,Computer Model,Computer Simulations,Computerized Model,In silico Model,Model, Computer,Model, Computerized,Model, In silico,Modeling, Computational,Modeling, In silico,Modelling, Computational,Simulation, Computer,Simulation, In silico,Simulations, Computer
D004599	Electric Stimulation Therapy	Application of electric current in treatment without the generation of perceptible heat. It includes electric stimulation of nerves or muscles, passage of current into the body, or use of interrupted current of low intensity to raise the detection threshold of the skin to pain.	Electrotherapy,Electrical Stimulation Therapy,Interferential Current Electrotherapy,Therapeutic Electric Stimulation,Therapeutic Electrical Stimulation,Therapy, Electric Stimulation,Electric Stimulation, Therapeutic,Electrical Stimulation, Therapeutic,Electrotherapy, Interferential Current,Stimulation Therapy, Electric,Stimulation Therapy, Electrical,Stimulation, Therapeutic Electric,Stimulation, Therapeutic Electrical,Therapy, Electrical Stimulation
D005246	Feedback	A mechanism of communication within a system in that the input signal generates an output response which returns to influence the continued activity or productivity of that system.	Feedbacks

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