Robust Compensation of Electromechanical Delay during Neuromuscular Electrical Stimulation of Antagonistic Muscles

Neuromuscular electrical stimulation (NMES) can potentially be used to restore the limb function in persons with neurological disorders, such as spinal cord injury (SCI), stroke, etc.\ud Researches on control system design has so far focused on relatively simple unidirectional NMES applications requiring stimulation of single muscle group. However, for some advanced tasks such as pedaling or walking, stimulation of multiple muscles is required. For example, to extend as well as flex a limb joint requires electrical stimulation of an antagonistic muscle pair. This is due to the fact that muscles are unidirectional actuators. The control challenge is to allocate control inputs to antagonist muscles based on the system output, usually a limb angle error to achieve a smooth and precise transition between antagonistic muscles without causing discontinuities. Furthermore, NMES input to each muscle is delayed by an electromechanical delay (EMD), which arises due to the time lag between the electrical excitation and the force development in muscle. And EMD is known to cause instability or performance loss during closed-loop control of NMES. \ud In this thesis, a robust delay compensation controller for EMDs in antagonistic muscles is presented. A Lyapunov stability analysis yields uniformly ultimately bounded tracking for a human limb joint actuated by antagonistic muscles. The simulation results indicate that the controller is robust and effective in switching between antagonistic muscles and compensating EMDs during a simulated NMES task. Further experiments on a dual motor testbed shows its feasibility as an NMES controller for human antagonistic muscles.\u