A Hybrid-FES Based Control System for Knee Joint Movement Control

Introduction: Utilizing Functional Electrical Stimulation (FES) and rehabilitation robots for motion control is an open research problem. In this paper, a new control algorithm has been proposed which was de-signed based on a combination of FES and an active mechanical actuator to control the knee j...

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Autores principales:	Mojdeh Rastegar, Hamid Reza Kobravi
Formato:	article
Lenguaje:	EN
Publicado:	Iran University of Medical Sciences 2021
Materias:	functional electrical stimulation (fes) hybrid neuroprosthesis movement control rehabilitation knee Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571
Acceso en línea:	https://doaj.org/article/f365d5628005483180021832e3e355da
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spelling	oai:doaj.org-article:f365d5628005483180021832e3e355da2021-12-05T08:43:44ZA Hybrid-FES Based Control System for Knee Joint Movement Control2008-126X2228-7442https://doaj.org/article/f365d5628005483180021832e3e355da2021-07-01T00:00:00Zhttp://bcn.iums.ac.ir/article-1-1488-en.htmlhttps://doaj.org/toc/2008-126Xhttps://doaj.org/toc/2228-7442Introduction: Utilizing Functional Electrical Stimulation (FES) and rehabilitation robots for motion control is an open research problem. In this paper, a new control algorithm has been proposed which was de-signed based on a combination of FES and an active mechanical actuator to control the knee joint movement. Methods: An adaptive controller and a Proportional-Derivative (PD) controller have adjusted the mo-tor torque and stimulation intensity, respectively. The FES controller was activated whenever a dis-turbance observer detected the presence of the external disturbance. In this manner, the occurrence of the muscle fatigue arises from the FES can be postponed. Results: The simulation studies were carried out on a model of muscle-joint system along with a model of a servo-motor. The computed RMS of the tracking errors compared to the range of knee motion show that the tracking performance is acceptable. In this research, the trajectories envisioned as the knee joint reference trajectory were designed using the recorded human data. Conclusion: The achieved results prove the ability of the proposed control strategy to not only reject the external disturbance but also compensate the muscle fatigue.Mojdeh RastegarHamid Reza KobraviIran University of Medical Sciencesarticlefunctional electrical stimulation (fes)hybrid neuroprosthesismovement controlrehabilitationkneeNeurosciences. Biological psychiatry. NeuropsychiatryRC321-571ENBasic and Clinical Neuroscience, Vol 12, Iss 4, Pp 441-452 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	functional electrical stimulation (fes) hybrid neuroprosthesis movement control rehabilitation knee Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571
spellingShingle	functional electrical stimulation (fes) hybrid neuroprosthesis movement control rehabilitation knee Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571 Mojdeh Rastegar Hamid Reza Kobravi A Hybrid-FES Based Control System for Knee Joint Movement Control
description	Introduction: Utilizing Functional Electrical Stimulation (FES) and rehabilitation robots for motion control is an open research problem. In this paper, a new control algorithm has been proposed which was de-signed based on a combination of FES and an active mechanical actuator to control the knee joint movement. Methods: An adaptive controller and a Proportional-Derivative (PD) controller have adjusted the mo-tor torque and stimulation intensity, respectively. The FES controller was activated whenever a dis-turbance observer detected the presence of the external disturbance. In this manner, the occurrence of the muscle fatigue arises from the FES can be postponed. Results: The simulation studies were carried out on a model of muscle-joint system along with a model of a servo-motor. The computed RMS of the tracking errors compared to the range of knee motion show that the tracking performance is acceptable. In this research, the trajectories envisioned as the knee joint reference trajectory were designed using the recorded human data. Conclusion: The achieved results prove the ability of the proposed control strategy to not only reject the external disturbance but also compensate the muscle fatigue.
format	article
author	Mojdeh Rastegar Hamid Reza Kobravi
author_facet	Mojdeh Rastegar Hamid Reza Kobravi
author_sort	Mojdeh Rastegar
title	A Hybrid-FES Based Control System for Knee Joint Movement Control
title_short	A Hybrid-FES Based Control System for Knee Joint Movement Control
title_full	A Hybrid-FES Based Control System for Knee Joint Movement Control
title_fullStr	A Hybrid-FES Based Control System for Knee Joint Movement Control
title_full_unstemmed	A Hybrid-FES Based Control System for Knee Joint Movement Control
title_sort	hybrid-fes based control system for knee joint movement control
publisher	Iran University of Medical Sciences
publishDate	2021
url	https://doaj.org/article/f365d5628005483180021832e3e355da
work_keys_str_mv	AT mojdehrastegar ahybridfesbasedcontrolsystemforkneejointmovementcontrol AT hamidrezakobravi ahybridfesbasedcontrolsystemforkneejointmovementcontrol AT mojdehrastegar hybridfesbasedcontrolsystemforkneejointmovementcontrol AT hamidrezakobravi hybridfesbasedcontrolsystemforkneejointmovementcontrol
_version_	1718372591545090048

A Hybrid-FES Based Control System for Knee Joint Movement Control

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