A Perturbation Control Strategy For FNS Motor Prostheses

Control of motor prostheses by functional neuromuscular stimulation (FNS) involves multi-joint, multi-degree of freedom limbs, whose dynamics are inherently nonlinear. Electrically stimulated muscles also display highly nonlinear properties. Linear control methods can be used to guarantee controllability of nonlinear systems only for ranges near an operating point. This paper discusses the application of a perturbation control strategy to control of FNS motor prostheses. Under certain conditions, this controller ensures globally stable control for the multi-joint limb system.

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