Fuzzy and learning control of fes induced gait

T.J.A. de Vries, W.J.R. Velthuis, J. van Amerongen, P.H. Veltink

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    Research is done to restore gait by means of functional electrical stimulation for people suffering from paraplegia. Difficulties are that muscle fatigue and heavily changing patient conditions deteriorate the performance of such systems. The design of feedback controllers is considered that adapt stimulation parameters to compensate for this deterioration. Conventional control (PID) gives good performance when muscle and leg dynamics are known, but requires recurring identification. By using fuzzy controllers based on general, qualitative knowledge, and by providing self-tuning capabilities through learning, identification might be avoided. Simulation studies confirm this.
    Original languageEnglish
    Title of host publicationProceedings of the 13th World Congress International Federation of Automatic Control
    Subtitle of host publicationSan Francisco, USA, 30th June-5th July 1996
    Place of PublicationNew York, NY
    Number of pages6
    ISBN (Print)9780080429199
    Publication statusPublished - 30 Jun 1996


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