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Current prosthesis control methods are primarily model-independent - lacking formal guarantees of stability, relying largely on heuristic tuning parameters for good performance, and neglecting use of the natural dynamics of the system.…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
Cerebral palsy (CP) is the most prevalent motor disorder in childhood and often results in gait abnormalities that hinder mobility and diminish quality of life. Functional electrical stimulation (FES) has demonstrated potential in enhancing…
A common challenge in Bicep Curls rehabilitation is muscle compensation, where patients adopt alternative movement patterns when the primary muscle group cannot act due to injury or fatigue, significantly decreasing the effectiveness of…
Balancing a bicycle is typical for the balance control humans perform as a part of a whole range of behaviors (walking, running, skating, skiing, etc.). This paper presents a general model of balance control and applies it to the balancing…
Feedforward control can greatly improve the response time and control accuracy of any mechatronic system. However, in order to compensate for the effects of modeling errors or disturbances, it is imperative that this type of control works…
Objective: This paper presents a force control scheme for brief isotonic holds in an isometrically contracted muscle tissue, with minimal overshoot and settling time to measure its shortening velocity, a key parameter of muscle function.…
This work proposes a force control strategy with prescribed transient performance for the legs of a wheel-legged robotic system to realize the posture adjustment on uneven roads. A dynamic model of the robotic system is established with the…
A new hybrid tracking controller for neuromuscular electrical stimulation is proposed. The control scheme uses sampled measurements and is designed by utilizing a numerical prediction of the state variables. The tracking error of the…
In this study, we developed a method to estimate the relationship between stimulation current and volatility during isometric contraction. In functional electrical stimulation (FES), joints are driven by applying voltage to muscles. This…
Human locomotion emerges from high-dimensional neuromuscular control, making predictive musculoskeletal simulation challenging. We present a physiology-informed reinforcement-learning framework that constrains control using muscle…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
Rapid transduction of sensory stimulation to action is essential for an animal to survive. To this end, most animals use the sub-second excitable and multistable dynamics of a neuromuscular system. Here, studying an animal without neurons…
Stability of bipedal systems in frontal plane is affected by the hip offset, to the extent that adjusting stride time using feedforward retraction and extension of the legs can lead to stable oscillations without feedback control. This…
In this study, we present a feedforward control system designed for active gravity compensation on an upper body exoskeleton. The system utilizes only positional data from internal motor sensors to calculate torque, employing analytical…
Assessment of muscle coordination during cycling may provide insight into motor control strategies and movement efficiency. This study evaluated muscle synergies and coactivation patterns as indicators of neuromuscular coordination in…
A significant challenge for the control of a robotic lower extremity rehabilitation exoskeleton is to ensure stability and robustness during programmed tasks or motions, which is crucial for the safety of the mobility-impaired user. Due to…
This paper presents a Lyapunov function based control strategy for networked control systems (NCS) affected by variable time delays and data loss. A special focus is put on the reduction of the computational complexity. A specific buffering…
Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…
An implanted device for brain-responsive neurostimulation (RNS System) is approved as an effective treatment to reduce seizures in adults with medically-refractory focal epilepsy. Clinical trials of the RNS System demonstrate…