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Flatness of musculoskeletal systems under functional electrical stimulation

Abstract : Functional Electrical Stimulation (FES) is an effective technique for movement rehabilitation after spinal cord injury (SCI). One of the main issues of this technique is the choice of appropriate FES patterns for movement con- trolling which ensure efficiency and less muscular fatigue. To reach those objec- tives, the knowledge of the muscle behavior under FES is mandatory. Therefore, a physiologically-based model is commonly used. Existing musculoskeletal models are often complex and highly non-linear, thus the model-based FES patterns syn- thesis and control still remains complex and challenging process. On other hand, the system flatness has been proved to be an efficient method for nonlinear system control, however it never has been explored for musculoskeletal systems. The aim of this work is to explore the flatness property of musculoskeletal systems under FES in dynamic condition for movement control purposes. For this study, the knee joint controlled by electrically stimulated quadriceps muscle was used. Results highlights that the two-inputs musculoskeletal system is flat, where two flat outputs were found. It also shows that the single-input musculoskeletal system is not flat. These results are crucial for flatness-based control of musculoskeletal systems since the most used musculoskeletal models in literature deal with only a single input.
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Submitted on : Monday, February 15, 2021 - 9:19:01 AM
Last modification on : Friday, February 19, 2021 - 3:04:50 AM
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Mourad Benoussaad, Frédéric Rotella, Imen Chaibi. Flatness of musculoskeletal systems under functional electrical stimulation. Medical and Biological Engineering and Computing, Springer Verlag, 2020, 58 (5), pp.1113-1126. ⟨10.1007/s11517-020-02139-3⟩. ⟨hal-03141132⟩



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