Fuzzy Logic Control of Knee-FES-Ergometer for Stroke Patients Knee Swinging Exercise

摘要

This paper presents the development of a fuzzy logic controller for a knee-FES-ergometer for stroke patient's knee swinging exercise. The knee-FES-ergometer is introduced as a hybrid exercise for a long repetitive knee swinging exercise for stroke patient through the application of a knee swinging ergometer and functional electrical stimulation. The specially designed ergometer is used to reduce the required electrical stimulation and hence avoids early muscle fatigue. A knee swinging ergometer model, humanoid model and a stimulated quadriceps muscle model are developed to simulate the FES-assisted knee swinging exercise. A fuzzy logic controller is then designed to control the repetitive knee swinging. Simulation results verifying the knee swinging trajectories and the reduced electrical stimulation required are presented and discussed.