Control methods for compensation and inhibition of muscle fatigue in neuroprosthetic devices

摘要: For individuals that suffer from paraplegia activities of daily life are greatly inhibited. With over 5,000 new cases each year in the United States alone there is a clear need to develop technologies restore lower extremity function these individuals. One method has shown promise for restoring functional movement paralyzed limbs use electrical stimulation (FES), which application produce muscle contraction and create movement. This technique been be able numerous motor functions persons with disability; however, can cause rapid fatigue, limiting duration devices may used. As an alternative some research developed fully actuated orthoses via electric motors. These have capable achieving greater walking durations than FES systems; systems significantly larger heavier. To smaller more efficient explored hybrid neuroprostheses both However, present challenges. In this dissertation novel control methods compensate/inhibit fatigue neuroprosthetic developed. Some seek compensate effects by using dynamics development or minimizing amount used desired Other presented here inhibit adding as additional actuation. either switching cooperative achieve longer strictly FES. Finally, necessity continued study gait restoration facilitated through simulations neuroprosthesis. The results demonstrate potential neuroprosthesis