caa a22 4500 465739733 CHVBK 20180323111805.0 cr unu---uuuuu 170327e19901101xx s 000 0 eng 10.1007/BF02368449 doi (NATIONALLICENCE)springer-10.1007/BF02368449 Regulating knee joint position by combining electrical stimulation with a controllable friction brake [Elektronische Daten] [William Durfee, Jeffrey Hausdorff] Hybrid FES gait restoration systems which combine stimulation with controllable mechanical damping elements at the joints show promise for providing good control of limb motion despite variations in muscle properties. In this paper we compared three controllers for position tracking of the free swinging shank in able-bodied subjects. The controllers were open-loop (OL), proportional-derivative closed-loop (PD), and bang-bang plus controlled-brake control (CB). Both OL and PD controllers contained a forward path element, which inverted a model of the electrically stimulated muscle and limb system. The CB control was achieved by maximally activating the appropriate muscle group and controlling the brake to be a "moving-wall” against which the limb pushed. The CB control resulted in superior tracking performance for a wide range of position tracking tasks and muscle fatigue states but required no calibration or knowledge of muscle properties. The disadvantages of CB control include excess mechanical power dissipation in the brake and impact forces applied to the skeletal system. Pergamon Press plc, 1990 Electrical stimulation nationallicence Muscle nationallicence Spinal cord injury nationallicence Control nationallicence Durfee William Department of Mechanical Engineering, Massachusetts Institute of Technology, Room 3-455, 02139, Cambridge, MA aut Hausdorff Jeffrey Department of Mechanical Engineering, Massachusetts Institute of Technology, Room 3-455, 02139, Cambridge, MA aut Annals of Biomedical Engineering Kluwer Academic Publishers 18/6(1990-11-01), 575-596 0090-6964 18:6<575 1990 18 10439 https://doi.org/10.1007/BF02368449 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF02368449 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Durfee William Department of Mechanical Engineering, Massachusetts Institute of Technology, Room 3-455, 02139, Cambridge, MA aut NATIONALLICENCE 700 1- Hausdorff Jeffrey Department of Mechanical Engineering, Massachusetts Institute of Technology, Room 3-455, 02139, Cambridge, MA aut NATIONALLICENCE 773 0- Annals of Biomedical Engineering Kluwer Academic Publishers 18/6(1990-11-01), 575-596 0090-6964 18:6<575 1990 18 10439 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer