自动化学报2016，Vol.42Issue(12)：1923-1932,10.
功能性电刺激下的关节自适应运动控制研究
Adaptive Control of Joint Movement Induced by Electrical Stimulation
摘要
Abstract
This paper presents a neuro sliding mode control method of electrical stimulation for accurate electrically-induced joint movement by compensating the effects of external disturbances and muscle fatigue during stimulation. The sliding mode control law is rested on an electrically-induced musculoskeletal model. The adaptive control law of the radial basis function network which is used to approximate system modeling uncertainties is derived through the Lyapunov function. This proposed method is evaluated by adaptive control of electrical stimulation to achieve expected knee movements, especially in the presence of external disturbances and muscle fatigue. Both simulation and experimental studies indicate that the proposed adaptive control method is effective and feasible to compensate deviations of joint movement resulting from external disturbances and muscle fatigue.关键词
神经网络滑模控制/肌肉疲劳/运动控制/功能性电刺激Key words
Neuro sliding mode control/muscle fatigue/movement control/functional electrical stimulation (FES)引用本文复制引用
吴强,张琴,熊蔡华..功能性电刺激下的关节自适应运动控制研究[J].自动化学报,2016,42(12):1923-1932,10.基金项目
国家自然科学基金(51305148,51335004),高等学校博士学科点专项科研基金(20130142120086),湖北省自然基金(2015CFA004)资助Supported by National Natural Science Foundation of China (51305148,51335004), Specialized Research Fund for the Doc-toral Program of Higher Education (20130142120086), and Nat-ural Science Foundation of Hubei Province (2015CFA004) （51305148,51335004）
