Details
| Translated title of the contribution | Iterative learning control with variable pass length applied to FES-based drop foot treatment |
|---|---|
| Original language | German |
| Pages (from-to) | 630-637 |
| Number of pages | 8 |
| Journal | At-Automatisierungstechnik |
| Volume | 61 |
| Issue number | 9 |
| Early online date | 13 Sept 2013 |
| Publication status | Published - Sept 2013 |
| Externally published | Yes |
Abstract
Functional electrical stimulation can be used to support the dorsiflexion of the foot during the swing phase of gait. Iterative learning control is employed to generate natural foot angle trajectories. In this article we consider early ground contact due to insufficient stimulation and study the resulting coupled dynamics of the error and the pass length. First, adequate theoretical concepts are discussed, which are then used for controller design. Finally, the achievable convergence properties are analyzed experimentally.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Science Applications
- Engineering(all)
- Electrical and Electronic Engineering
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In: At-Automatisierungstechnik, Vol. 61, No. 9, 09.2013, p. 630-637.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Iterativ lernende regelung mit variabler zykluslänge für FES-basierte kompensation einer fußheberschwäche
AU - Seel, Thomas
AU - Schauer, Thomas
AU - Raisch, Jörg
PY - 2013/9
Y1 - 2013/9
N2 - Functional electrical stimulation can be used to support the dorsiflexion of the foot during the swing phase of gait. Iterative learning control is employed to generate natural foot angle trajectories. In this article we consider early ground contact due to insufficient stimulation and study the resulting coupled dynamics of the error and the pass length. First, adequate theoretical concepts are discussed, which are then used for controller design. Finally, the achievable convergence properties are analyzed experimentally.
AB - Functional electrical stimulation can be used to support the dorsiflexion of the foot during the swing phase of gait. Iterative learning control is employed to generate natural foot angle trajectories. In this article we consider early ground contact due to insufficient stimulation and study the resulting coupled dynamics of the error and the pass length. First, adequate theoretical concepts are discussed, which are then used for controller design. Finally, the achievable convergence properties are analyzed experimentally.
KW - Biomedical engineering
KW - Drop foot syndrome
KW - Functional electrical stimulation
KW - Iterative learning control
KW - Monotonic convergence
KW - Variable pass length
UR - http://www.scopus.com/inward/record.url?scp=84884684066&partnerID=8YFLogxK
U2 - 10.1524/auto.2013.0065
DO - 10.1524/auto.2013.0065
M3 - Artikel
AN - SCOPUS:84884684066
VL - 61
SP - 630
EP - 637
JO - At-Automatisierungstechnik
JF - At-Automatisierungstechnik
SN - 0178-2312
IS - 9
ER -