Computer Simulation Test of Fuzzy Controller for the Cycle-to-Cycle Control of Knee Joint Movements of Swing Phase of Fes Gait
Computer Simulation Test of Fuzzy Controller for the Cycle-to-Cycle Control of Knee Joint Movements of Swing Phase of Fes Gait
复制标题
Fes步态摆动阶段膝关节运动周期控制模糊控制器的计算机仿真试验
DOI：
10.1093/ietisy/e88-d.7.1763
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
N. Hoshimiya
中科院分区：
文献类型：
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作者：
A. Arifin;Takashi Watanabe;N. Hoshimiya
提出了一种模糊控制方案，利用功能电刺激（FES）实现周期对周期的控制，以恢复步态的摆动阶段。我们设计了两个模糊控制器的股二头肌短头（BFS）和股肌控制屈伸膝关节在摆动阶段。通过肌肉-骨骼模型的计算机仿真，测试了所设计的模糊控制器的控制能力，并将其与比例-积分-导数（PID）和自适应PID控制器在刺激爆发持续时间自动生成和肌肉疲劳补偿方面的控制能力进行了比较。自适应PID控制器的参数自适应并没有显著改善PID控制器的控制性能。在不同疲劳程度下，模糊控制器优于PID控制器和自适应PID控制器。结果表明，该模糊控制器适用于fes诱导步态的周期对周期控制。
We proposed a fuzzy control scheme to implement the cycle-to-cycle control for restoring swing phase of gait using functional electrical stimulation (FES). We designed two fuzzy controllers for the biceps femoris short head (BFS) and the vastus muscles to control flexion and extension of the knee joint during the swing phase. Control capabilities of the designed fuzzy controllers were tested and compared to proportional-integral-derivative (PID) and adaptive PID controllers in automatic generation of stimulation burst duration and compensation of muscle fatigue through computer simulations using a musculo-skeletal model. Parameter adaptations in the adaptive PID controllers did not significantly improve the control performance of the PID controllers. The fuzzy controllers were superior to the PID and adaptive PID controllers under several subject conditions and different fatigue levels. These results showed the fuzzy controller would be suitable to implement the cycle-to-cycle control of FES-induced gait.