Control of Leg Movements Driven by Electrically Stimulated Muscles

A planar biomechanical model of a human leg has been developed to investigate automatic control strategies for artificially stimulated muscle using electrical stimulation (ES). The model comprises the nonlinear multiplicative model of the muscles, tendons and two body segments (thigh and shank-foot complex), that is, the hip and the knee. Flexor and extensor muscles are included for each joint. The parameters determining the model used for the analysis can all be assessed; hence, the model can be customized to a particular subject. Simulation software is organized within the SIMULINK environment, and the user can easily change parameters of the model by using Dialogue Boxes. The simulation allows determining constraints imposed by parameters, which are essential for designing control system for rehabilitation of humans with disabilities. Index Terms biomimetic control, biomechanics, human standing, legged locomotion.