Basic and Clinical Neuroscience Journal
مجله علوم اعصاب پایه و بالینی
BCN
Medical Sciences
http://bcn.iums.ac.ir
137
journal137
2008-126X
2228-7442
10.32598/bcn
en
jalali
1400
4
1
gregorian
2021
7
1
12
4
online
1
fulltext
en
A Hybrid-FES Based Control System for Knee Joint Movement Control
Clinical Neuroscience
Clinical Neuroscience
Original
Original
<strong>Introduction</strong>: 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. <br>
<strong>Methods</strong>: 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.<br>
<strong>Results</strong>: 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.<br>
<strong>Conclusion</strong>: The achieved results prove the ability of the proposed control strategy to not only reject the external disturbance but also compensate the muscle fatigue.
Functional Electrical Stimulation (FES), Hybrid neuroprosthesis, Movement control, Rehabilitation, Knee
441
452
http://bcn.iums.ac.ir/browse.php?a_code=A-10-173-3&slc_lang=en&sid=1
Mojdeh
Rastegar
mojdehrastegar@yahoo.com
13700319475328460037942
13700319475328460037942
No
Department of Biomedical Engineering, Research Center of Biomedical Engineering, Islamic Azad University of Mashhad, Mashhad, Iran.
Hamid Reza
Kobravi
hamidrezakobravi@gmail.com
13700319475328460037943
13700319475328460037943
Yes
Department of Biomedical Engineering, Research Center of Biomedical Engineering, Islamic Azad University of Mashhad, Mashhad, Iran.