Hybrid Dynamical System Model and Robust Control of a Hybrid Neuroprosthesis Under Fatigue Based Switching

A hybrid neuroprosthesis controller that integrates a modified PD-based robust controller to compensate for electromechanical delay during functional electrical stimulation and a variable structure controller to control a powered exoskeleton is developed. A hybrid dynamical systems approach is used to model the hybrid neuroprosthesis control and prove the stability. Simulation results demonstrate the model and the control design during a standing task.