Force Tracking Control of Functional Electrical Stimulation via Hybrid Active Disturbance Rejection Control

doi:10.3390/electronics11111727

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Force Tracking Control of Functional Electrical Stimulation via Hybrid Active Disturbance Rejection Control
	Huo, Benyan 3; Wang, Ruishun 3; Qin, Yunhui 2; Wu, Zhenlong 3; Bian, Guibin 1,3; Liu, Yanhong 3
刊名	ELECTRONICS
	2022-06-01
卷号	11 期号:11 页码:17
关键词	functional electrical stimulation Hammerstein model active disturbance rejection control force tracking control upper-limb rehabilitation
DOI	10.3390/electronics11111727
通讯作者	Bian, Guibin(guibin.bian@ia.ac.cn)
英文摘要	Stroke is a worldwide disease with a high incidence rate. After surviving a stroke, most patients are left with impaired upper or lower limb. Muscle force training is vital for stroke patients to recover limb function and improve their quality of life. This paper proposes a force tracking control method for upper limb based on functional electrical stimulation (FES), which is a promising rehabilitation approach. A modified Hammerstein model is proposed to describe the nonlinear dynamics of biceps brachii, which consists of a nonlinear mapping function, linear dynamics and time delay component to represent the biochemical process of muscle contraction. A quick model identification method is presented based on the least square algorithm. To deal with the variation of muscle dynamics, a hybrid active disturbance rejection control (ADRC) is proposed to estimate and compensate for the model uncertainty and unmeasured disturbances. The parameter tuning process is given. In the end, the performance of the proposed methods is verified via simulations and experiments. Compared with the Proportional integral derivative controller (PID) method, the proposed methods could suppress the model uncertainty and improve the tracking precision.
资助项目	National Natural Science Foundation of China[62103376] ; Robot Perception and Control Support Program for Outstanding Foreign Scientists in Henan Province of China[GZS2019008] ; China Postdoctoral Science Foundation[2018M632801] ; Science & Technology Research Project in Henan Province of China[212102310253]
WOS关键词	TIME-VARYING NATURE ; ELECTROMECHANICAL DELAY ; ARM MOVEMENT ; DESIGN ; STROKE ; IDENTIFICATION ; SYSTEMS
WOS研究方向	Computer Science ; Engineering ; Physics
语种	英语
出版者	MDPI
WOS记录号	WOS:000808778900001
资助机构	National Natural Science Foundation of China ; Robot Perception and Control Support Program for Outstanding Foreign Scientists in Henan Province of China ; China Postdoctoral Science Foundation ; Science & Technology Research Project in Henan Province of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/49626]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Bian, Guibin
作者单位	1.Chinese Acad Sci CASIA, Inst Automat, Beijing 100190, Peoples R China 2.Dawning Informat Ind Co Ltd Sugon, Zhengzhou 450001, Peoples R China 3.Zhengzhou Univ, Sch Elect Engn, Zhengzhou 450001, Peoples R China
推荐引用方式 GB/T 7714	Huo, Benyan,Wang, Ruishun,Qin, Yunhui,et al. Force Tracking Control of Functional Electrical Stimulation via Hybrid Active Disturbance Rejection Control[J]. ELECTRONICS,2022,11(11):17.
APA	Huo, Benyan,Wang, Ruishun,Qin, Yunhui,Wu, Zhenlong,Bian, Guibin,&Liu, Yanhong.(2022).Force Tracking Control of Functional Electrical Stimulation via Hybrid Active Disturbance Rejection Control.ELECTRONICS,11(11),17.
MLA	Huo, Benyan,et al."Force Tracking Control of Functional Electrical Stimulation via Hybrid Active Disturbance Rejection Control".ELECTRONICS 11.11(2022):17.