Force Tracking Control of Functional Electrical Stimulation via Hybrid Active Disturbance Rejection Control

Stroke is a worldwide disease with high incidence rate. After surviving stroke, most patients are left impaired upper or lower limb. Muscle force training vital for stroke to recover limb function and improve their quality of life. This paper proposes tracking control method based on functional electrical stimulation (FES), which promising rehabilitation approach. A modified Hammerstein model proposed describe the nonlinear dynamics biceps brachii, consists mapping function, linear time delay component represent biochemical process muscle contraction. quick identification presented least square algorithm. To deal variation dynamics, hybrid active disturbance rejection (ADRC) estimate compensate uncertainty unmeasured disturbances. The parameter tuning given. In end, performance methods verified via simulations experiments. Compared Proportional integral derivative controller (PID) method, could suppress precision.