Gelenkwinkelregelung durch Elektrostimulation eines antagonistischen Muskelpaares Joint-Angle Control by Electrical Stimulation of Antagonistic Muscles

contribution presents a new approach to human arm position control under electrical stimulation that employs an acceleration feedback. During stimulation of antagonistic muscle pairs, this approach can noticeably reduce negative effects that are caused by an uncertain dead-zone within the muscular activation. The acceleration controller, realised using a disturbance observer, represents the lowest level of a cascaded control scheme. On higher levels the angle and the velocity are controlled. The overall control design is based on a highly simplified neuro-muscular model, which can be easily adapted to different subjects.