Cycle-to-Cycle Control of Swing Phase of FES-induced Hemiplegic Gait : A Computer Simulation with Different Controllers
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概要
- 論文の詳細を見る
This study focused on controlling FES-induced gait using cycle-to-cycle control. Stimulation burst duration was regulated to control the maximum knee-joint and ankle-joint angles of a current cycle based on the errors of the previous cycles. This control method was implemented on a fuzzy controller and a PID controller. An adaptive PID controller and an adaptive fuzzy controller implemented the method too. All of control schemes were tested in swing phase control by computer simulation using a musculo-skeletal model. The fuzzy controller had faster response than the PID controller in compensating muscle fatigue. Online adaptation of controller parameters in the adaptive PID and the adaptive fuzzy controllers had no significant effect on improving control response.
- 社団法人電子情報通信学会の論文
- 2002-11-21
著者
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Arifin Achmad
Its Surabaya Idn
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Hoshimiya N
Tohoku Gakuin University
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Hoshimiya Nozomu
Graduate School Of Engineering Tohoku University
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WATANABE Takashi
Information Synergy Center, Tohoku University
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Arifin Achmad
Graduate School of Engineering, Tohoku University
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Watanabe Takashi
Dept. Biomed. Eng. Tohoku University
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Watanabe Takashi
Information Synergy Center Tohoku University
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