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Discrete event-driven control of an active orthosis regulated by electromyographic signals for Canis lupus familiaris

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Abstract

This study introduces the design of an asynchronous event-driven adaptive robust control that regulates a mobile limb orthosis position for the hind legs of a Canis lupus familiaris (CLF). The application of a suitable stability analysis based on a controlled Lyapunov function results in the laws to adjust the adaptive gains of a proportional integral derivative controller (PID). The controller succeeded in compensating external bounded perturbations and non-modeled uncertainties in the active orthosis device. This compensation forces the tracking between the current positions and some reference trajectories obtained by a biomechanical gait cycle analysis of the CLF. The controller starts with the event triggered from the power of the electromyography signal from the frontal legs. If the signal power is higher than a predefined threshold, the movement of the orthosis will initiate. Electromyographic signals were acquired offline and injected into a virtualized orthosis model to test the event-driven control design. A set of numerical simulations confirmed a better performance of tracking reference trajectories and the effect of the event-driven controller on the orthosis operation. The experimental validation of the proposed output feedback controller on the designed orthosis seems to justify a potential automatized rehabilitation therapy based on the proposed electromyography-driven strategy.

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Notes

  1. A Bézier curve is defined by a set of control points P_0 through P_n, where n is called its order (n=1 for linear, 2 for quadratic, etc.). The first and last control points are always the endpoints of the curve; however, the intermediate control points (if any) generally do not lie on the curve.

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Acknowledgements

The authors thank the financial support provided by the National Poly-technic Institute through the Research Grants labeled SIP-2021-1220, SIP- 2020-0992 and SIP-2021-1863. The authors declare that there is no conflict of interest in the results presented in this study.

Author information

Authors and Affiliations

  1. CIDETEC-Instituto Politécnico Nacional, Mexico City, Mexico

    M. Sanchez & I. Salgado

  2. Laboratory of Medical Robotics and Biosignals, UPIBI- Instituto Politécnico Nacional, Mexico City, Mexico

    A. Ruız, D. Cruz-Ortiz, M. Ballesteros & I. Chairez

  3. Tecnológico Nacional de México/TES Ixtapaluca, Mexico City, State of Mexico, Mexico

    D. Cruz-Ortiz

  4. Tecnologico de Monterrey, School of Engineering and Sciences, Zapopan, Jalisco, Mexico

    M. Ballesteros & I. Chairez

Authors
  1. M. Sanchez
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  2. A. Ruız
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  4. I. Salgado
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  5. M. Ballesteros
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Corresponding author

Correspondence to M. Ballesteros.

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All applicable international, national and institutional guidelines for the care and use of animals were followed. Besides, all procedures performed in studies involving animals were in accordance with the ethical standards of the institution (IPN) or practice at which the studies were conducted.

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Sanchez, M., Ruız, A., Cruz-Ortiz, D. et al. Discrete event-driven control of an active orthosis regulated by electromyographic signals for Canis lupus familiaris. Intel Serv Robotics 14, 485–499 (2021). https://doi.org/10.1007/s11370-021-00371-w

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  • DOI: https://doi.org/10.1007/s11370-021-00371-w

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