Computer Simulation Test of Fuzzy Controller for the Cycle-to-Cycle Control of Knee Joint Movements of Swing Phase of FES Gait


IEICE TRANSACTIONS on Information and Systems   Vol.E88-D   No.7   pp.1763-1766
Publication Date: 2005/07/01
Online ISSN: 
DOI: 10.1093/ietisy/e88-d.7.1763
Print ISSN: 0916-8532
Type of Manuscript: LETTER
Category: Rehabilitation Engineering and Assistive Technology
cycle-to-cycle control,  functional electrical stimulation (FES),  fuzzy controller,  PID controller,  adaptive PID controller,  

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We proposed a fuzzy control scheme to implement the cycle-to-cycle control for restoring swing phase of gait using functional electrical stimulation (FES). We designed two fuzzy controllers for the biceps femoris short head (BFS) and the vastus muscles to control flexion and extension of the knee joint during the swing phase. Control capabilities of the designed fuzzy controllers were tested and compared to proportional-integral-derivative (PID) and adaptive PID controllers in automatic generation of stimulation burst duration and compensation of muscle fatigue through computer simulations using a musculo-skeletal model. Parameter adaptations in the adaptive PID controllers did not significantly improve the control performance of the PID controllers. The fuzzy controllers were superior to the PID and adaptive PID controllers under several subject conditions and different fatigue levels. These results showed the fuzzy controller would be suitable to implement the cycle-to-cycle control of FES-induced gait.