Abstract
Recent results indicate that muscles have a delayed response to neuromuscular electrical stimulation (NMES). Muscle groups are known to rapidly fatigue in response to external muscle stimulation when compared to volitional contractions, and recent results indicate that this input delay increases as the muscle fatigues. Since the exact value of the time-varying input delay is difficult to measure during feedback control, the uncertain input delay presents a significant challenge to designing controllers for force tracking during isometric NMES. In the present work, a continuous robust controller is developed that compensates for the uncertain time-varying input delay for the uncertain, nonlinear NMES dynamics of the lower limb despite additive bounded disturbances. A Lyapunov-based stability analysis is used to prove that the error signals are uniformly ultimately bounded.
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