Fuzzy controller for cycle-to-cycle control of swing phase of FES-induced hemiplegic gait: a computer simulation in two-joints control

This paper described a test of fuzzy controller for controlling knee and ankle movements of swing phase of FES-induced hemiplegic gait. We developed five fuzzy controllers to control electrical stimulation for the hamstrings, the quadriceps, the gastrocnemius medialis, the tibialis anterior and the soleus muscles. The fuzzy controllers regulated burst durations of stimulation pulse trains to maintain certain maximum angles of knee flexion, knee extension, ankle plantar flexion, and ankle dorsiflexion and to prepare good initial contact. Capabilities of fuzzy controller in automatic generation of stimulation burst duration and compensating muscle fatigue were tested by computer simulation using musculo-skeletal model. The fuzzy controller generated standard burst duration in automatic generation of stimulation burst duration in a few cycles and compensated muscle fatigue fast.