Experimental demonstration of a delay compensating controller in a hybrid walking neuroprosthesis

A hybrid neuroprosthesis is a device that uses a combination of electric motors and functional electrical stimulation (FES) to provide gait assistance. Its closed-loop control performance can be potentially affected by the presence of electromechanical delay (EMD) during FES. In this paper, a tracking control scheme for a hybrid walking neuroprosthesis that combines electric motor actuation at the hip and FES actuation at the knee is presented. The knee joint controller uses a delay compensation technique to compensate for EMD during FES. This neuroprosthesis controller is combined within a finite state machine that also features gait detection, wherein force sensors in the foot can detect gait phases and create a fully automated and functional assisted gait cycle. Experiments were performed on an able bodied subject to demonstrate the efficacy of the tracking control scheme. Results from the experiments show a maximum error at the hip of less than 1 degree and a maximum error at the knee of 13.66 degrees. The maximum error at the knee is attributed to overshoot caused by the unidirectional actuation of the FES.