ArticleBasic and clinical neuroscience
A Hybrid-FES Based Control System for Knee Joint Movement Control.
Article in Basic and clinical neuroscience. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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Who cites it
1 citing paper in PubMed, 5 citations in OpenAlex.
- Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research.Frontiers in neurorobotics · 2022Review
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Authors and funding
2 authors at 1 institution in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
introductionUtilizing 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.
methodsAn adaptive controller and a Proportional-Derivative (PD) controller have adjusted the motor torque and stimulation intensity, respectively. The FES controller was activated whenever a disturbance observer detected the presence of the external disturbance. In this manner, the occurrence of the muscle fatigue arises from the FES can be postponed.
resultsThe 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.
conclusionThe achieved results prove the ability of the proposed control strategy to not only reject the external disturbance but also compensate the muscle fatigue.
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