Neuroprosthesis for standing-up and sitting-down: Experimental results

R. Riener, M. Boll, E. Pavan, M. Ferrarin, C. Frigo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this study different closed-loop control strategies for standing-up (SU) and sitting-down (SD) were experimentally tested on two paraplegics by applying Functional Electrical Stimulation (FES) to the quadriceps muscle. The motion is supported by a seesaw construction. The control strategies studied include on-off control, PID control, PID control with feedforward on the basis of an inverse dynamic model (IDM), and `patient-driven motion reinforcement' (PDMR). Satisfactory control behaviour was observed in the on-off and PID controllers. However, during standing they show a tendency towards instability. The PDMR controller is able to coordinate FES and upper body and significantly reduce upper body effort. A disadvantage of the IDM-based and PDMR controllers is that cumbersome parameter adjustment is required prior to the experiments.

Original languageEnglish
Title of host publicationAnnual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings
PublisherIEEE
Pages603
Number of pages1
Volume1
ISBN (Print)0780356756
Publication statusPublished - 1999
EventProceedings of the 1999 IEEE Engineering in Medicine and Biology 21st Annual Conference and the 1999 Fall Meeting of the Biomedical Engineering Society (1st Joint BMES / EMBS) - Atlanta, GA, USA
Duration: Oct 13 1999Oct 16 1999

Other

OtherProceedings of the 1999 IEEE Engineering in Medicine and Biology 21st Annual Conference and the 1999 Fall Meeting of the Biomedical Engineering Society (1st Joint BMES / EMBS)
CityAtlanta, GA, USA
Period10/13/9910/16/99

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ASJC Scopus subject areas

  • Bioengineering

Cite this

Riener, R., Boll, M., Pavan, E., Ferrarin, M., & Frigo, C. (1999). Neuroprosthesis for standing-up and sitting-down: Experimental results. In Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings (Vol. 1, pp. 603). IEEE.