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Flatness of musculoskeletal systems under functional electrical stimulation.
Medical & Biological Engineering & Computing ( IF 3.2 ) Pub Date : 2020-03-18 , DOI: 10.1007/s11517-020-02139-3 Mourad Benoussaad 1 , Frédéric Rotella 1 , Imen Chaibi 2
Medical & Biological Engineering & Computing ( IF 3.2 ) Pub Date : 2020-03-18 , DOI: 10.1007/s11517-020-02139-3 Mourad Benoussaad 1 , Frédéric Rotella 1 , Imen Chaibi 2
Affiliation
Control of musculoskeletal yy system through functional electrical stimulation (FES) still remains a complex and a challenging process. Indeed, the used musculoskeletal models are often complex and highly nonlinear, which makes their control and inversion (getting appropriate inputs from a desired outputs) very difficult. On the other hand, the system flatness has been proved to be an efficient method for nonlinear system control, since in this technique, the nonlinear system can be controlled more easily through its flat outputs. Therefore, it is very promising to apply this control technique on the musculoskeletal system, to overcome its problems, which has never been explored so far. The aim of this work is to explore the flatness technique and its feasibility on the knee joint musculoskeletal system in dynamic condition, controlled by electrically stimulated quadriceps muscle. A mathematical proof developed in the current work highlights that the two-input musculoskeletal system is flat, where two flat outputs are the muscle stiffness and the knee joint angle. It also shows that the single-input musculoskeletal system is not flat. These results are crucial for flatness-based control of musculoskeletal systems, since this model in literature deals with a single input. Simulation results in open-loop control of two-input system highlight the consistency of the mathematical proof, and the applicability of this technique on the musculoskeletal system, where its simulated outputs fit perfectly with the desired ones if the model is considered perfect. When, one parameter of the system is not well estimated (10% of error), simulations show limits of open-loop control, with a joint angle rms deviation of 4%; hence, the closed-loop control should be considered. Graphical Abstract Flatness Study and control of Musculoskeletal systems.
中文翻译:
功能性电刺激下肌肉骨骼系统的平坦度。
通过功能性电刺激(FES)控制肌肉骨骼yy系统仍然是一个复杂而具有挑战性的过程。实际上,所使用的肌肉骨骼模型通常是复杂且高度非线性的,这使得它们的控制和反转(从所需输出中获取适当的输入)非常困难。另一方面,系统平坦度已被证明是一种用于非线性系统控制的有效方法,因为在该技术中,可以通过其平坦输出更轻松地控制非线性系统。因此,将这种控制技术应用于肌肉骨骼系统以克服其问题是非常有前途的,迄今为止尚未进行探讨。这项工作的目的是探讨在动态条件下对膝关节肌肉骨骼系统的平坦度技术及其可行性,由电刺激的股四头肌控制。当前工作中开发的数学证明突出表明,两输入肌肉骨骼系统是平坦的,其中两个平坦输出是肌肉刚度和膝关节角度。它还表明,单输入肌肉骨骼系统不是平坦的。这些结果对于基于平面度的肌肉骨骼系统控制至关重要,因为文献中的该模型仅处理单个输入。双输入系统开环控制的仿真结果突出了数学证明的一致性,以及该技术在肌肉骨骼系统上的适用性,如果该模型被认为是完美的,则其仿真输出与所需输出完美匹配。如果无法很好地估计系统的一个参数(误差的10%),则模拟会显示开环控制的极限,关节角度均方根偏差为4%; 因此,应考虑闭环控制。图形抽象平面度研究和骨骼肌肉系统控制。
更新日期:2020-03-18
中文翻译:
功能性电刺激下肌肉骨骼系统的平坦度。
通过功能性电刺激(FES)控制肌肉骨骼yy系统仍然是一个复杂而具有挑战性的过程。实际上,所使用的肌肉骨骼模型通常是复杂且高度非线性的,这使得它们的控制和反转(从所需输出中获取适当的输入)非常困难。另一方面,系统平坦度已被证明是一种用于非线性系统控制的有效方法,因为在该技术中,可以通过其平坦输出更轻松地控制非线性系统。因此,将这种控制技术应用于肌肉骨骼系统以克服其问题是非常有前途的,迄今为止尚未进行探讨。这项工作的目的是探讨在动态条件下对膝关节肌肉骨骼系统的平坦度技术及其可行性,由电刺激的股四头肌控制。当前工作中开发的数学证明突出表明,两输入肌肉骨骼系统是平坦的,其中两个平坦输出是肌肉刚度和膝关节角度。它还表明,单输入肌肉骨骼系统不是平坦的。这些结果对于基于平面度的肌肉骨骼系统控制至关重要,因为文献中的该模型仅处理单个输入。双输入系统开环控制的仿真结果突出了数学证明的一致性,以及该技术在肌肉骨骼系统上的适用性,如果该模型被认为是完美的,则其仿真输出与所需输出完美匹配。如果无法很好地估计系统的一个参数(误差的10%),则模拟会显示开环控制的极限,关节角度均方根偏差为4%; 因此,应考虑闭环控制。图形抽象平面度研究和骨骼肌肉系统控制。