Three-Dimensional Dynamic Modeling, Control Synthesis, and Controllability Analysis for Fes-Assisted Paraplegic Standing

Links

URL: http://hdl.handle.net/1807/120851

Abstract and keywords

This thesis presents the dynamic analysis of a human double-support stance in order to investigate the feasibility of closed-loop control of functional electrical stimulation (FES)-assisted standing for paraplegics. Through the application of the dynamics and control of redundant robotic systems, several issues of the dynamics of the double-support stance that must be overcome for the implementation of a practical FES system for paraplegic standing were addressed. Stability analysis for the developed three dimensional dynamic model, which has twelve degrees of freedom (DOF) in the lower limbs demonstrated that the proposed nonlinear dynamic model can achieve asymptotic stability with only 6-DOF out of 12-DOF, assuming the remaining 6-DOF are not actuated. Simulation results suggested that the dynamic redundancy of the biological bipedal stance system allows the selection of an ideal subset of six DOF in a particular patient to design a neuroprosthesis for standing.

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Cited By (2)

Year	Entry
2011	Sanin E. Generating Reliable and Predictable Lower-Limb Torque Vectors Using Functional Electrical Stimulation [Master's thesis]. University of Toronto; 2011.
2011	Vette A-H. Trunk Stability During Postural Control: Tool Development and Analysis [PhD thesis]. University of Toronto; 2011.