Koopman-Based Model Predictive Control of Functional Electrical Stimulation for Ankle Dorsiflexion and Plantarflexion Assistance
Year: 2026
Type: article
Abstract: Functional Electrical Stimulation (FES) can be an effective tool to augment paretic muscle function and restore normal ankle function. Our approach incorporates a real-time, data-driven Model Predictive Control (MPC) scheme built upon a Koopman operator theory (KOT) framework. This framework adeptly captures the complex nonlinear dynamics of ankle motion in a linearized form, enabling the application of linear control approaches for highly nonlinear FES-actuated dynamics. Our method accurately predicts the FES-induced ankle movements, accounting for nonlinear muscle actuation dynamics, including the muscle activation for both plantarflexors and dorsiflexors (Tibialis Anterior (TA)). The linear prediction model derived through KOT allowed the formulation of the MPC problem with linear state space dynamics, enhancing the FES-driven control’s real-time feasibility, precision, and adaptability. We demonstrate the effectiveness and applicability of our approach through comprehensive simulations and experimental trials, including three participants with no disability and a participant with Multiple Sclerosis. Our findings highlight the potential of a KOT-based MPC approach for FES-based gait assistance that offers effective and personalized assistance for individuals with gait impairment conditions.
Source: UNC Libraries
DOI: 10.17615/2t35-nk25
Institution: University of North Carolina at Chapel Hill
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funders: American Cancer Society, Gordon and Betty Moore Foundation, Abbott Laboratories, Tobacco-Related Disease Research Program, National Geographic Society, University of Minnesota, Stiftelsen för Miljöstrategisk Forskning, Institute for Fermentation, Osaka, Sylvia and Charles Viertel Charitable Foundation, International Anesthesia Research Society, FURTHERMORE grants in publishing, Royal Society, Royal Brisbane and Women's Hospital Foundation, Deutsche Forschungsgemeinschaft, Agence Nationale de la Recherche, European Synchrotron Radiation Facility, Ministry of Education, Culture, Sports, Science and Technology, Schweizerischer Nationalfonds zur Förderung der Wissenschaftlichen Forschung, Fundação de Amparo à Pesquisa do Estado de São Paulo, National Natural Science Foundation of China, Coordenação de Aperfeiçoamento de Pessoal de Nível Superior, Chungnam National University, Generalitat de Catalunya, China Postdoctoral Science Foundation, Government of Jiangsu Province, Fonds Wetenschappelijk Onderzoek, Nederlandse Organisatie voor Wetenschappelijk Onderzoek, Euskal Herriko Unibertsitatea, Natural Science Foundation of Guangdong Province, Conselho Nacional de Desenvolvimento Científico e Tecnológico, National Research Foundation of Korea, Hospital de Clínicas de Porto Alegre, Natural Science Foundation of Hubei Province, Israel Science Foundation, King Abdullah University of Science and Technology, Knut och Alice Wallenbergs Stiftelse, A.G. Leventis Foundation, Studienstiftung des Deutschen Volkes, Suranaree University of Technology, Vetenskapsrådet, Natural Science Foundation of Jiangsu Province, National Research Council of Thailand, Universidade de Macau, Natural Science Foundation of Hunan Province, Centre National de la Recherche Scientifique, Chinese Academy of Medical Sciences, AstraZeneca Australia, Christian Doppler Forschungsgesellschaft, Natural Science Foundation of Shandong Province, Chungnam National University Hospital, Servier, Higher Education Discipline Innovation Project, Ministry of Science and ICT, South Korea, Thailand Science Research and Innovation, Diputación Foral de Gipuzkoa, Guangzhou Municipal Science and Technology Bureau, Ministerio de Educación y Formación Profesional, Diabetes Victoria, Universidade Estadual de Santa Cruz, bioMérieux, National Institutes of Health, Office of Science, GE Healthcare, University of California, Los Angeles, Novartis Pharma, Horizon 2020 Framework Programme, Health Canada, Natural Sciences and Engineering Research Council of Canada, Engineering and Physical Sciences Research Council, Natural Environment Research Council, Australian Research Council, Japan Science and Technology Agency, Rijksinstituut voor Volksgezondheid en Milieu, Institute for Chemical Research, Kyoto University, Agencia Estatal de Investigación, National Key Research and Development Program of China, Fundamental Research Funds for the Central Universities, National Key Clinical Specialty Discipline Construction Program of China, Basic and Applied Basic Research Foundation of Guangdong Province, National Institute on Aging, National Heart, Lung, and Blood Institute, National Institute of General Medical Sciences, National Institute of Allergy and Infectious Diseases, National Institute of Arthritis and Musculoskeletal and Skin Diseases, National Institute of Biomedical Imaging and Bioengineering, Division of Chemical, Bioengineering, Environmental, and Transport Systems, Division of Chemistry, National Center for Advancing Translational Sciences, Basic Energy Sciences, Laboratory Directed Research and Development, Precursory Research for Embryonic Science and Technology, Lawrence Livermore National Laboratory, SLAC National Accelerator Laboratory, National Science Foundation Graduate Research Fellowship Program, Guangdong Science and Technology Innovation Foundation, European Radiation Dosimetry Group, Wellcome Leap
OpenAlex ID: W7212067153
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