Adaptive Closed-Loop Control Strategy for Paralyzed Skeletal Muscles

C. Ionescu and R. De Keyser (Belgium)


Paralyzed muscle, simulation, PI controller, adaptive control


Artificial control of paralyzed or paretic muscles became a challenging field and lately an important research topic, stimulated by the advances in technology. In this contribution, classical PI control is compared to the DIRAC (DIRect Adaptive Control) strategy. The DIRAC algorithm is both an auto-tuning and an adaptation method of the controller parameters. Since paralyzed or paretic muscles are time-varying systems, an adaptive/auto tuning method is necessary for control. Simulations on a muscle model adapted from literature are performed and the controller's performances are compared. Some of the implementation aspects are also discussed.

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