Control of Functional Electrical Stimulation and Powered Exoskeletons: Robust, Data-Driven, Ultrasound Imaging-Based Approaches Using Nonlinear MPC

By Nitin Sharma, Krysten Lambeth, Mayank Singh

Control of Functional Electrical Stimulation and Powered Exoskeletons contributes to studies designed to ameliorate the effects of neurological disorders that affect millions of people. The powered exoskeleton and functional electrical stimulation are among the rehabilitation interventions promising to assist walking and standing functions after paralysis. The book propounds new control methods addressing the challenges presented by a hybrid system that combines these approaches--lack of model knowledge, input delay and actuator redundancy among them--so as to render it a clinical success.

The authors develop, model-based and data-driven nonlinear model predictive control (MPC) to solve optimal control problems in input allocation in a hybrid exoskeleton. The advantages gained from the use of MPC overcome input constraints and allow dynamical allocation. To achieve learning under uncertainty, the authors go on to develop data-driven methods using the Koopman approach to identify system models in real-time. The book addresses robustness approaches to nonlinear MPC through an in-depth Lyapunov-based analysis, which differentiates the developments presented here from previously existing literature on nonlinear MPC applications.

The interdisciplinary nature of Control of Functional Electrical Stimulation and Powered Exoskeletons makes it particularly relevant to graduate students and researchers from a wide range of backgrounds but particularly to those with an interest in control and working in biomedical or rehabilitation engineering and to practitioners involved in the application of assistive technology.

• Format: Hardcover
• Language: English
• ISBN: 3032452848
• ISBN13: 9783032452849
• Release Date: March 2027
• Publisher: Springer