Natural trajectory based FES-induced swinging motion control

摘要

The use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES). FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury. FES induced movement control is a significantly challenging area, mainly emanating from various characteristics of the underlying physiological/biomechanical system. An approach of fuzzy trajectory tracking control of swinging motion optimized with genetic algorithm is presented. The results show the effectiveness of the approach in controlling FES-induced swinging motion. In this approach only the quadriceps muscle is stimulated to perform the swinging motion by controlling the amount of stimulation pulsewidth