Design of Fuzzy Controller of the Cycle-to-Cycle Control for Swing Phase of Hemiplegic Gait Induced by FES(Rehabilitation Engineering and Assistive Technology)
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概要
- 論文の詳細を見る
The goal of this study was to design a practical fuzzy controller of the cycle-to-cycle control for multi joint movements of swing phase of functional electrical stimulation (FES) induced gait. First, we designed three fuzzy controllers (a fixed fuzzy controller, a fuzzy controller with parameter adjustment based on the gradient descent method, and a fuzzy controller with parameter adjustment based on a fuzzy model) and two PID controllers (a fixed PID and an adaptive PID controllers) for controlling two-joint (knee and ankle) movements. Control capabilities of the designed controllers were tested in automatic generation of stimulation burst duration and in compensation of muscle fatigue through computer simulations using a musculo-skeletal model. The fuzzy controllers showed better responses than the PID controllers in the both control capabilities. The parameter adjustment based on the fuzzy model was shown to be effective when oscillating response was caused due to the inter-subject variability. Based on these results, we designed the fuzzy controller with the parameter adjustment realized using the fuzzy model for controlling three-joint (hip, knee, and ankle) movements. The controlled gait pattern obtained by computer simulation was not significantly different from the normal gait pattern and it could be qualitatively accepted in clinical FES gait control. The fuzzy controller designed for the cycle-to-cycle control for multi-joint movements during the swing phase of the FES gait was expected to be examined clinically.
- 社団法人電子情報通信学会の論文
- 2006-04-01
著者
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Arifin Achmad
Its Surabaya Idn
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Arifin Achmad
Institute Of Techonology "sepuluh Nopember
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Hoshimiya N
Tohoku Gakuin University
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Arifin Achmad
Institute Of Technology "sepuluh Nopember
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WATANABE Takashi
Information Synergy Center, Tohoku University
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HOSHIMIYA Nozomu
Tohoku Gakuin 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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- Cycle-to-Cycle制御法に基づくファジィFES制御器による膝関節制御の実験的検討(生体医工学シンポジウム2007)
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- A Feasibility Study of Fuzzy FES Controller Based on Cycle-to-Cycle Control : An Experimental Test of Knee Extension Control
- Design of Fuzzy Controller of the Cycle-to-Cycle Control for Swing Phase of Hemiplegic Gait Induced by FES(Rehabilitation Engineering and Assistive Technology)
- A Test of Stimulation Schedules for the Cycle-to-Cycle Control of Multi-joint Movements in Swing Phase of FES-induced Hemiplegic Gait
- Computer Simulation Test of Fuzzy Controller for the Cycle-to-Cycle Control of Knee Joint Movements of Swing Phase of FES Gait(Rehabilitation Engineering and Assistive Technology)
- Design of Fuzzy Controllers for Cycle-to-Cycle Control of Swing Phase of FES-induced Hemiplegic Gait
- Cycle-to-Cycle Control of Swing Phase of FES-induced Hemiplegic Gait : A Computer Simulation with Different Controllers
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