ABSTRACT
This paper considers the closed-loop control of electrically stimulated muscle using simultaneous pulse width and frequency modulation. Previous work has experimentally demonstrated good feedback regulation of muscle force using fixed parameter and an adaptive controller modulating pulse width. In this work, it is shown how the addition of pulse frequency modulation to pulse width modulation can improve controller performance. This combination controller has been developed for both single muscle activation and for costimulation of antagonists. This is accomplished using a single command input. In single muscle operation, the combination of pulse width and stimulus pulse frequency modulation results in better control of transient responses than with pulse width modulation alone; the total number of stimulus pulses is increased, however, when compared with pulse width-only modulation at the muscle fusion frequency. In the case of costimulation, the controller modulates the pulse stimulus periods of the antagonists in a reciprocal manner, to ensure stable and fast responses. That is, the frequency of stimulation of the antagonist is increased when that of the agonist is decreased. This results in better control performance with generally fewer stimulus pulses than those generated by costimulation using only pulse width modulation. This feedback controller was evaluated in animal experiments. Step responses with rapid rise times but without overshoot were obtained by the combined modulation. Good steady-state and transient performance were obtained over a wide range of static lengths and commands, under different loading conditions and in different animals. This controller is a promising potential component of neural prostheses to restore functional movement in paralyzed individuals.
