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Optimized fuzzy control for natural trajectory based fes-swinging motion

KSM Kader Ibrahim , Babul Salam and Tokhi, M. O. and Huq, M.S. and Gharooni, S.C. Optimized fuzzy control for natural trajectory based fes-swinging motion. International Journal of Integrated Engineering . ISSN 2229-838X


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The use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES). FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury (SCI). A crucial issue of FES is the control of motor function by the artificial activation of paralyzed muscles the to the various characteristics of the underlying physiological/biomechanical system. Muscle response characteristics are nonlinear and time-varying. After developing a nonlinear model describing the dynamic behaviour of the knee joint and muscles, a closed-loop approach of control strategy to track the reference trajectory is assessed in computer simulations. Then the controller was through experimental work. In this approach only the quadriceps muscle is stimulated to perform the swinging motion by controlling the amount of stimulation pulsewidth. An approach of fuzzy trajectory tracking control of swinging motion optimized with genetic algorithm is presented. The result show the effectiveness of the approach in controlling FES-induced swinging motion in the simulation as well in the practical environment.

Item Type: Article
Uncontrolled Keywords: functional electrical stimulation; fuzzy logic; generic algorithm; paraplegic
Subjects: T Technology > TJ Mechanical engineering and machinery
Depositing User: Normajihan Abd. Rahman
Date Deposited: 23 Apr 2012 07:17
Last Modified: 23 Apr 2012 07:17
URI: http://eprints.uthm.edu.my/id/eprint/2454
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