Application of multiple model adaptive control to upper limb stroke rehabilitation
Application of multiple model adaptive control to upper limb stroke rehabilitation
Impaired arm function has a significant impact on the quality of life of stroke sufferers. Research has shown that the application of functional electrical stimulation (FES) to assist their movement over repeated attempts at a task is effective in restoring function. However, current FES control systems lack robustness to changes in plant dynamics caused by fatigue and spasticity. This paper details the application of a multiple model adaptive control algorithm that has the potential to overcome this problem. It is shown in an experimental setting that an adaptive estimation mechanism is able to detect changes in the true plant through optimal disturbance estimation. Finally, the performance of the algorithm is compared with that of fixed optimal controllers. These initial results suggest that the application of estimation-based multiple model switched adaptive control (EMMSAC) can increase the potential of FES based rehabilitation through improved controller accuracy.
69-74
Brend, O.
0932d595-1da7-4a16-8e7e-2d065a058866
Freeman, C.T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
French, M.
22958f0e-d779-4999-adf6-2711e2d910f8
4 October 2012
Brend, O.
0932d595-1da7-4a16-8e7e-2d065a058866
Freeman, C.T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
French, M.
22958f0e-d779-4999-adf6-2711e2d910f8
Brend, O., Freeman, C.T. and French, M.
(2012)
Application of multiple model adaptive control to upper limb stroke rehabilitation.
IEEE Multiconference on Systems and Control (MSC 2012), Dubrovnik, Croatia.
03 - 05 Oct 2012.
.
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Conference or Workshop Item
(Paper)
Abstract
Impaired arm function has a significant impact on the quality of life of stroke sufferers. Research has shown that the application of functional electrical stimulation (FES) to assist their movement over repeated attempts at a task is effective in restoring function. However, current FES control systems lack robustness to changes in plant dynamics caused by fatigue and spasticity. This paper details the application of a multiple model adaptive control algorithm that has the potential to overcome this problem. It is shown in an experimental setting that an adaptive estimation mechanism is able to detect changes in the true plant through optimal disturbance estimation. Finally, the performance of the algorithm is compared with that of fixed optimal controllers. These initial results suggest that the application of estimation-based multiple model switched adaptive control (EMMSAC) can increase the potential of FES based rehabilitation through improved controller accuracy.
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Published date: 4 October 2012
Venue - Dates:
IEEE Multiconference on Systems and Control (MSC 2012), Dubrovnik, Croatia, 2012-10-03 - 2012-10-05
Organisations:
EEE, Southampton Wireless Group
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Local EPrints ID: 340088
URI: http://eprints.soton.ac.uk/id/eprint/340088
PURE UUID: 0f59e036-c99a-477d-a1c1-dc95b56ea307
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Date deposited: 09 Jun 2012 23:00
Last modified: 14 Mar 2024 11:18
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Contributors
Author:
O. Brend
Author:
C.T. Freeman
Author:
M. French
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