Comparing joint kinematics and center of mass acceleration as feedback for control of standing balance by functional neuromuscular stimulation

Table 3 Controller robustness to feedback error

Error type	Equal performance Error level (RPI = 1)	Typical sensor Error level	% Degradation in Controller performance at “Typical sensor error level”
Joint Position Noise	1.01 deg	0.05 deg*	4.9
Joint Velocity Noise	6.86 deg/sec	0.05 deg/sec*	0.7
Joint Position Tracking	3.01 deg	2.60 deg*	86
Acceleration Noise	0.09 m/sec²	0.002 m/sec²*	0.6
Acceleration Tracking	0.62 m/sec²	0.27 m/sec²*	35
Accelerometer Placement	37 deg	3.2 deg max 1.7 deg mean	1.9 max 0.7 mean

*values reported as typical for inertial sensors used in[23].
**values based on overall mean and average maximum observed during stabilization period for computer simulations of perturbed FNS standing.

ISSN: 1743-0003