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

doi:10.3390/electronics11111727

	Force Tracking Control of Functional Electrical Stimulation via Hybrid Active Disturbance Rejection Control
	Huo, Benyan 1; Wang, Ruishun 1; Qin, Yunhui 2; Wu, Zhenlong 1; Bian, Guibin1,3 ; Liu, Yanhong1
发表期刊	ELECTRONICS
	2022-06-01
卷号	11 期号:11 页码:17
通讯作者	Bian, Guibin(guibin.bian@ia.ac.cn)
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.
关键词	functional electrical stimulation Hammerstein model active disturbance rejection control force tracking control upper-limb rehabilitation
DOI	10.3390/electronics11111727
关键词[WOS]	TIME-VARYING NATURE ; ELECTROMECHANICAL DELAY ; ARM MOVEMENT ; DESIGN ; STROKE ; IDENTIFICATION ; SYSTEMS
收录类别	SCI
语种	英语
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]
项目资助者	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
WOS研究方向	Computer Science ; Engineering ; Physics
WOS类目	Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Physics, Applied
WOS记录号	WOS:000808778900001
出版者	MDPI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/49627
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Bian, Guibin
作者单位	1.Zhengzhou Univ, Sch Elect Engn, Zhengzhou 450001, Peoples R China 2.Dawning Informat Ind Co Ltd Sugon, Zhengzhou 450001, Peoples R China 3.Chinese Acad Sci CASIA, Inst Automat, Beijing 100190, Peoples R China
通讯作者单位	中国科学院自动化研究所
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.