On the Use of Electrically Stimulated Muscle as a Controlled Actuator of a Limb
Abstract
The feasibility of inducing controlled movement of a paralyzed limb by means of applying electric currents is discussed. This is preceded by a functional description of muscle and its electrical excitability and the musculo-skeletal system of the human arm. Experiments are described which were performed to gain a basic understanding of the mechanical response of the lower arm due to stimulation of the biceps muscle. The dynamic model of this single degree of freedom system thus obtained is then used to synthesize suitable feedback control schemes. Two basically different systems are discussed: the control of the angular position, and the control of the angular velocity of the elbow joint. The velocity controller is found to be superior-and is implemented in hardware. Three types of velocity controllers are compared: open loop, proportional closed loop, and proportional plus integral closed-loop. The proportional plus integral closed loop is found to be superior. The author also indicates that a closed loop torque control may perform as well or better and also is simpler to implement.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 01, 1967
- Accession Number
- ADA422620
Entities
People
- William J. Crochetiere
Organizations
- United States Department of Health, Education, and Welfare