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Please use this identifier to cite or link to this item: http://hdl.handle.net/1807/17448

Title: Closed Loop Control of the Ankle Joint Using Functional Electrical Stimulation
Authors: Tan, John Frederick
Advisor: Popovic, Milos R.
Department: Biomedical Engineering
Keywords: Closed Loop Control
Functional Electrical Stimulation
Ankle Joint
Inverted Pendulum
Issue Date: 14-Jul-2009
Abstract: The restoration of arm-free standing in paraplegic individuals can be accomplished with the help of functional electrical stimulation (FES). The key component of such a system is a controller that can modulate FES induced muscle contractions in real-time, such that artificially produced forces in the legs and abdominal muscles are able to generate stable standing posture. A 57 year-old individual with chronic ASIA-A (American Spinal Injury Association), T3/4 level spinal cord injury (SCI) participated in this study. The objective was to determine if a proportional-derivative (PD) or proportional-integral-derivative (PID) controller could be used to regulate FES induced muscle contractions in the ankle joint to allow it to maintain balance of the entire body during quiet standing, while exhibiting physiological dynamics seen in able-bodied individuals while doing so.
URI: http://hdl.handle.net/1807/17448
Appears in Collections:Master
Institute of Biomaterials and Biomedical Engineering - Master theses

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