Optimized Fuzzy Control For Natural Trajectory Based Fes- Swinging Motion

  • B.S.K.K Ibrahim
  • M.O. Tokhi
  • M.S. Huq
  • S.C. Gharooni
Keywords: Functional electrical stimulation, fuzzy logic, genetic algorithm, paraplegic

Abstract

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 due 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 behavior 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 validated 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 results show the effectiveness of the approach in controlling FES-induced swinging motion in the simulation as well as in the practical environment.

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Author Biographies

B.S.K.K Ibrahim
Department of Mechatronic and Robotic, Faculty of Electrical & Electronic Engineering
University Tun Hussein Onn Malaysia, Batu Pahat, Johor, MALAYSIA.
M.O. Tokhi
Department of Automatic Control and System Engineering, Faculty of Engineering
The University of Sheffield, Sheffied, UNITED KINGDOM.
M.S. Huq
Department of Automatic Control and System Engineering, Faculty of Engineering
The University of Sheffield, Sheffied, UNITED KINGDOM.
S.C. Gharooni
Department of Automatic Control and System Engineering, Faculty of Engineering
The University of Sheffield, Sheffied, UNITED KINGDOM.
Published
04-05-2011
How to Cite
Ibrahim, B., Tokhi, M., Huq, M., & Gharooni, S. (2011). Optimized Fuzzy Control For Natural Trajectory Based Fes- Swinging Motion. International Journal of Integrated Engineering, 3(2). Retrieved from https://penerbit.uthm.edu.my/ojs/index.php/ijie/article/view/370
Section
Issue on Electrical and Electronic Engineering

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