Design of Closed-Loop Fuzzy FES Controller and Tests in Controlling Knee Extension Movements

Takashi WATANABE  Takumi TADANO  

IEICE TRANSACTIONS on Information and Systems   Vol.E100-D   No.9   pp.2261-2264
Publication Date: 2017/09/01
Publicized: 2017/06/05
Online ISSN: 1745-1361
DOI: 10.1587/transinf.2017EDL8061
Type of Manuscript: LETTER
Category: Biological Engineering
FES,  closed-loop control,  fuzzy,  PID,  knee,  

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Fuzzy controller can be useful to realize a practical closed-loop FES controller, because it is possible to make it easy to design FES controller and to determine its parameter values, especially for controlling multi-joint movements by stimulating many muscles including antagonistic muscle pairs. This study focused on using fuzzy controller for the closed-loop control of cycling speed during FES cycling with pedaling wheelchair. However, a designed fuzzy controller has to be tested experimentally in control performance. In this paper, a closed-loop fuzzy FES controller was designed and tested in knee extension movements comparing to a PID controller with healthy subjects before applying to FES cycling. The developed fuzzy controller showed good control performance as a whole in comparing to PID controller and its parameter values were determined through simple control tests of the target movement.