Continuous Adaptive Control of the Knee Joint Movement

Abstract

In this paper, we develop a control law for Functional Electrical Stimulation (FES) application fields. This work aims to command the knee joint movement of patients in the seated position suffering from neurological disorders that lead to a partial or total paralysis of the limb. For this purpose, we propose the synthesis of an adaptive continuous control that permits to the knee joint the tracking of a time-varying desired angle. The knee movement is represented by the dynamical model of the lower limb. The designed control ensures an asymptotic stability while considering constraints such as unknown model parameters, unknown perturbation effects and unknown spasticity and fatigue parameters. The applicability and the effectiveness of the designed control law are shown through the simulation results.