Optimization and evaluation of a proportional derivative controller for planar arm movement |
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| Authors: | Kathleen M Jagodnik Antonie J van den Bogert |
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| Institution: | 1. Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, USA;2. Department of Biomedical Engineering (ND20), Lerner Research Institute, 9500 Euclid Avenue, Cleveland Clinic, Cleveland, OH 44195, USA;1. Division of Nuclear Medicine and Molecular Imaging, Geneva University Hospital, CH-1211 Geneva, Switzerland;2. Wolfson Molecular Imaging Centre, MAHSC, University of Manchester, M20 3LJ Manchester, UK;3. Faculty of Health Sciences, Brain and Mind Centre, The University of Sydney, NSW 2050 Sydney, Australia;4. Geneva Neuroscience Centre, Geneva University, CH-1205 Geneva, Switzerland;5. Department of Nuclear Medicine and Molecular Imaging, University of Groningen, University Medical Centre Groningen, 9700 RB Groningen, The Netherlands;6. Department of Nuclear Medicine, University of Southern Denmark, DK-500 Odense, Denmark;1. School of Engineering Science, Simon Fraser University, Burnaby, British Columbia, Canada;2. School of Kinesiology and Health Studies, Queen’s University, Kingston, Ontario, Canada;3. Department of Biomedical Physiology and Kinesiology, Simon Fraser University, Burnaby, British Columbia, Canada |
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| Abstract: | In most clinical applications of functional electrical stimulation (FES), the timing and amplitude of electrical stimuli have been controlled by open-loop pattern generators. The control of upper extremity reaching movements, however, will require feedback control to achieve the required precision. Here we present three controllers using proportional derivative (PD) feedback to stimulate six arm muscles, using two joint angle sensors. Controllers were first optimized and then evaluated on a computational arm model that includes musculoskeletal dynamics. Feedback gains were optimized by minimizing a weighted sum of position errors and muscle forces. Generalizability of the controllers was evaluated by performing movements for which the controller was not optimized, and robustness was tested via model simulations with randomly weakened muscles. Robustness was further evaluated by adding joint friction and doubling the arm mass. After optimization with a properly weighted cost function, all PD controllers performed fast, accurate, and robust reaching movements in simulation. Oscillatory behavior was seen after improper tuning. Performance improved slightly as the complexity of the feedback gain matrix increased. |
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