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1- Islamic Azad University, Mashhad Branch
Abstract:  
  • Purpose of the study
Efficient gait control using FES is yet an open research problem. In this study, a new intermittent control strategy has been proposed for control of shank movement dynamics during the human gait.
  • Method
In the proposed approach, three iterated sine-circle maps were identified in the three dimensional phase space, constructed by shank movement data recorded from the healthy subjects, using the Poincare technique. The three identified one-dimensional maps contained the essential information about the shank movement dynamics during a gait cycle. Then a fuzzy feedback controller was designed so that it is activated only when the value of shank angle as a state variable in the state space is significantly far from the points described by an identified sine-circle map. In this manner, the feedback controller is activated only for a short period of time during each gait stride.
  • Results
The designed intermittent controller was evaluated through some simulation studies on a two joints musculoskeletal model. The results show that the pattern of the obtained hip and knee joint trajectories, the outputs of the musculoskeletal model, are acceptably similar to the joints trajectories pattern of healthy subjects.
  • Conclusion
According to the results, the intriguing similarity was observed between the dynamics of the recorded human data and the dynamics of the controlled musculoskeletal model. It proves the acceptable performance of the proposed control strategy.
Type of Study: Original | Subject: Computational Neuroscience
Received: 2018/05/8 | Accepted: 2019/01/21

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