Functional Electrical Stimulation and Exoskeleton Hybrid Control: Using Model Predictive Control to Distribute Control Effort among Systems with Unequal Time Delays

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dc.contributor.advisorO'Malley, Marcia Ken_US
dc.creatorDunkelberger, Nathanen_US
dc.date.accessioned2023-01-05T16:03:36Zen_US
dc.date.created2023-05en_US
dc.date.issued2022-12-15en_US
dc.date.submittedMay 2023en_US
dc.date.updated2023-01-05T16:03:36Zen_US
dc.description.abstractMany individuals who have suffered from a spinal cord injury require assistance to perform activities of daily living, and this population considers regaining upper limb function as a top priority to restore independence. Robotic exoskeletons and functional electrical stimulation are two technologies that can provide some amount of aid in these cases, but each technology alone has limitations that keeps it from providing meaningful assistance for daily activities. Combining these two technologies could counter these limitations by allowing functional electrical stimulation to provide large amounts of the general power requirements, while an exoskeleton can fine tune movements, allowing for meaningful assistance. However, this combination also raises a new challenge – effectively distributing control effort between the two sources with differing time delays while maintaining high accuracy in coordinated movements. This thesis presents a model predictive control-based hybrid controller which utilizes the cost function to achieve this goal. This hybrid controller is implemented and tested in both single and multi-joint movements in its ability perform trajectory tracking tasks. Findings from studies with healthy participants indicate that the hybrid controller is able to reduce exoskeleton control effort compared to an exoskeleton acting alone yet maintain high accuracy in controller implementations with one and two joints, and simulations in four joint movements show ideal controller behavior, outlining potential capabilities in highly complex movements.en_US
dc.embargo.lift2024-05-01en_US
dc.embargo.terms2024-05-01en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.citationDunkelberger, Nathan. "Functional Electrical Stimulation and Exoskeleton Hybrid Control: Using Model Predictive Control to Distribute Control Effort among Systems with Unequal Time Delays." (2022) Diss., Rice University. <a href="https://hdl.handle.net/1911/114213">https://hdl.handle.net/1911/114213</a>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/114213en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectHybrid Controlen_US
dc.subjectModel Predictive Controlen_US
dc.subjectRoboticsen_US
dc.subjectFunctional Electrical Stimulationen_US
dc.titleFunctional Electrical Stimulation and Exoskeleton Hybrid Control: Using Model Predictive Control to Distribute Control Effort among Systems with Unequal Time Delaysen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentMechanical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelDoctoralen_US
thesis.degree.nameDoctor of Philosophyen_US
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