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Wednesday, May 20, 2020 | History

2 edition of Three-dimensional dynamic modeling, control synthesis, and controllability analysis for FES-assisted paraplegic standing. found in the catalog.

Three-dimensional dynamic modeling, control synthesis, and controllability analysis for FES-assisted paraplegic standing.

Joon-young Kim

Three-dimensional dynamic modeling, control synthesis, and controllability analysis for FES-assisted paraplegic standing.

by Joon-young Kim

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Published .
Written in English


About the Edition

This thesis presents the dynamic analysis of a human double-support stance in order to investigate the feasibility of closed-loop control of functional electrical stimulation (FES)-assisted standing for paraplegics. Through the application of the dynamics and control of redundant robotic systems, several issues of the dynamics of the double-support stance that must be overcome for the implementation of a practical FES system for paraplegic standing were addressed. Stability analysis for the developed three dimensional dynamic model, which has twelve degrees of freedom (DOF) in the lower limbs demonstrated that the proposed nonlinear dynamic model can achieve asymptotic stability with only 6-DOF out of 12-DOF, assuming the remaining 6-DOF are not actuated. Simulation results suggested that the dynamic redundancy of the biological bipedal stance system allows the selection of an ideal subset of six DOF in a particular patient to design a neuroprosthesis for standing.

The Physical Object
Pagination152 leaves.
Number of Pages152
ID Numbers
Open LibraryOL19215123M
ISBN 100494022485


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Three-dimensional dynamic modeling, control synthesis, and controllability analysis for FES-assisted paraplegic standing by Joon-young Kim Download PDF EPUB FB2