LQG moment control in the paraplegic's ankle joint

A digital Linear Quadratic Gaussian (LQG) controller for the ankle plantarflexors has been designed and tested in a paraplegic. Parametric linear identification, reference tracking and disturbance rejection tests of the controller were done in the Wobbler apparatus. Even though moments generated by paraplegic's plantarflexors are smaller than in normals, excellent reference tracking and fairly good disturbance signal rejection was found.