Optimized Fuzzy Control For Natural Trajectory Based Fes- Swinging Motion

Authors

  • 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.

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Published

04-05-2011

Issue

Section

Issue on Electrical and Electronic Engineering

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). https://penerbit.uthm.edu.my/ojs/index.php/ijie/article/view/370