An optimized proportional-derivative controller for the human upper extremity with gravity

摘要: When Functional Electrical Stimulation (FES) is used to restore movement in subjects with spinal cord injury (SCI), muscle stimulation patterns should be selected generate accurate and efficient movements. Ideally, the controller for such a neuroprosthesis will have simplest architecture possible, facilitate translation into clinical setting. In this study, we simulated annealing algorithm optimize two proportional-derivative (PD) feedback gain sets 3-dimensional arm model that includes musculoskeletal dynamics has 5 degrees of freedom 22 muscles, performing goal-oriented reaching Controller gains were optimized by minimizing weighted sum position errors, orientation activations. After optimization, performance was evaluated on basis accuracy efficiency movements, along three other benchmark not our system, large set dynamic movements which controllers had been optimized, test ability generalize. Robustness presence weakened muscles also tested. The found very similar each all metrics, exhibit significantly better accuracy, compared standard sets. All investigated physiologically acceptable amounts muscular activation. It concluded optimization can yield significant improvements while still maintaining efficiency, considered as strategy future design.