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A Hybrid-FES Based Control System for Knee Joint Movement Control.

Mojdeh Rastegar1, Hamid Reza Kobravi1

  • 1Department of Biomedical Engineering, Research Center of Biomedical Engineering, Islamic Azad University of Mashhad, Mashhad, Iran.

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Summary

This study introduces a novel control algorithm combining Functional Electrical Stimulation (FES) and a rehabilitation robot to precisely control knee joint movement. The system effectively rejects external disturbances and compensates for muscle fatigue during rehabilitation.

Keywords:
Functional Electrical Stimulation (FES)Hybrid neuroprosthesisKneeMovement controlRehabilitation

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Rehabilitation Technology

Background:

  • Functional Electrical Stimulation (FES) and rehabilitation robots are key areas in motion control research.
  • Controlling knee joint movement with combined FES and active mechanical actuators presents an ongoing challenge.

Purpose of the Study:

  • To propose and evaluate a new control algorithm for knee joint motion control.
  • To integrate Functional Electrical Stimulation (FES) with a rehabilitation robot for enhanced movement control.

Main Methods:

  • An adaptive controller managed motor torque, while a Proportional-Derivative (PD) controller adjusted FES intensity.
  • A disturbance observer triggered FES to counteract external disturbances, mitigating muscle fatigue.
  • Simulations utilized muscle-joint and servo-motor models with human-recorded knee joint trajectories.

Main Results:

  • Simulation studies demonstrated acceptable tracking performance, with computed RMS errors analyzed against the knee motion range.
  • The proposed control strategy effectively rejected external disturbances in the simulated environment.
  • The system showed the capability to compensate for muscle fatigue induced by FES.

Conclusions:

  • The developed control strategy successfully integrates FES and robotic actuation for robust knee joint control.
  • The approach demonstrates significant potential for improving rehabilitation outcomes by addressing disturbances and fatigue.
  • This research advances the field of assistive and rehabilitative robotics through innovative control solutions.