An Enhanced Model Free Adaptive Control Approach for Functional Electrical Stimulation Assisted Knee Joint Regulation and Control

Alif, T; Bhasin, Shubhendu; Garg, Kanwaljeet; Joshi, Deepak

doi:10.1109/tnsre.2023.3252882

Cited by 10 publications

(4 citation statements)

References 34 publications

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“…In other methods, to estimate the time constant of muscle activation, it is necessary to perform a pre-experiment stage [19,21]. This stage prolongs the rehabilitation time and can cause physical and mental fatigue in the patient [37]. The proposed method eliminates the pre-experiment stage for estimating the muscle activation time constant.…”

Section: Proposed Methods Advantages In Clinical Implementationmentioning

confidence: 99%

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Muscle Fatigue Regulation through Muscle Activation Control in a Knee Hybrid Exoskeleton: Simulation Study

Ghajari,

Moghaddam,

Kobravi

et al. 2023

Machines

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The knee hybrid exoskeleton is a system that aids in the rehabilitation of patients with mobility disorders. It comprises a powered exoskeleton and functional electrical stimulation, which moves the knee joint by stimulating the muscles. However, electrical stimulation of muscles can lead to muscle fatigue. For the first time, this article investigates the regulation of muscle fatigue by controlling muscle activation. To control muscle activation, an innovative adaptive controller for FES is designed. The adaptation law is designed utilizing a time-varying estimation of the muscle activation time parameter. The proportional-integral controller is designed to regulate the knee joint angle utilizing an electrical motor. The proportional-integral controller gains are calculated using an optimization method. A cooperative control structure is presented to use the electrical motor and functional electrical stimulation simultaneously. The muscle activation error is uniformly ultimately bounded, and its boundedness is proven through Lyapunov analysis; the error bound is also determined. The simulation results showed knee joint angle regulation and muscle fatigue regulation. The proposed control method results were compared with those based on model predictive control and switching control, which showed significant improvement in the joint angle error and muscle fatigue. The proposed method is appropriate for practical implementation based on the obtained results.

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Section: Proposed Methods Advantages In Clinical Implementationmentioning

confidence: 99%

“…The adaptive control method is utilized to control the knee hybrid exoskeleton [37]. In this section, the adaptive controller is designed by an indirect adaptive control method to regulate muscle activation, thus regulating muscle fatigue.…”

Section: Muscle Controllermentioning

confidence: 99%

Muscle Fatigue Regulation through Muscle Activation Control in a Knee Hybrid Exoskeleton: Simulation Study

Ghajari,

Moghaddam,

Kobravi

et al. 2023

Machines

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show abstract

“…These advanced control techniques are known for their ability to optimize control based on prediction and adapt to changing conditions [21]. They can be effective for handling nonlinearities and uncertainties.…”

Section: Model Predictive Control Adaptive Control and Optimal Controlmentioning

confidence: 99%

Closed-loop Functional Electrical Stimulation (FES) – cycling rehabilitation with phase control Fuzzy Logic for fatigue reduction control strategies for stroke patients

Ahmad,

Shamsudin,

Soomro

et al. 2023

Sinergi

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Functional Electrical Stimulation (FES) cycling, or FES-Cycling, holds great therapeutic potential for individuals with paralysis, such as those with Spinal Cord Injury (SCI), traumatic brain injury, or stroke, aiming to restore mobility. However, the nonlinear nature of the musculoskeletal system poses a significant challenge in controlling FES-Cycling. To address this, an integrated closed-loop phase angle fuzzy-based system was developed. This system offers real-time control by adjusting stimulation intensity (pulse width) within the range of 50 to 200μs while maintaining a constant frequency of 35Hz, thereby ensuring precise pedaling trajectory and cadence patterns. An experimental study involved three healthy individuals (Cases A, B, and C) and one individual with hemiplegia stroke (Case D). Results showed that the proposed system consistently reduced average angle trajectory errors for Cases A, B, and C, with values of 2.6945, 3.2958, and 2.9922 degrees, respectively. Case D, affected by hemiplegia stroke, faced greater challenges and exhibited a higher error of 3.4562 degrees. Fatigue resistance, evaluated through fatigue indices, showed promising results for Cases A, B, and C with values of 0.10778, 0.06866, and 0.04603, respectively. However, Case D experienced higher fatigue (0.2304) due to the unique challenges of hemiplegia stroke. These findings highlight the effectiveness of the proposed control system in optimizing FES-Cycling, particularly for healthy individuals. For individuals with paralysis, like Case D, further research is needed to adapt the system to their specific conditions and cycling patterns. This system holds the potential for enhancing FES-Cycling as a therapeutic strategy and warrants additional investigation and customization for different patient populations.

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“…However, the knee is highly vulnerable to sports trauma, stroke, and other diseases [3]. Therefore, numerous researchers have investigated the development of knee exoskeletons [4].…”

Section: Introductionmentioning

confidence: 99%

Development and Validation of a Self-Aligning Knee Exoskeleton With Hip Rotation Capability

Li,

Liang,

et al. 2024

IEEE Trans. Neural Syst. Rehabil. Eng.

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The self-aligning capability of an exoskeleton is important to ensure wearing comfort, and the delicate motion ability of the exoskeleton is essential for motion assistance. Designing a self-aligning exoskeleton that offers improved wearing comfort and enhanced motion-assistance functions remains a challenge. This paper proposes a novel spatial self-aligning mechanism for a knee exoskeleton to enable simultaneous assistance in the flexion and extension (FE) of the knee joint and the internal and external rotation (IER) of the hip joint. Additionally, considering the misalignment of the human-robot joint axes, a kinematic model of the knee exoskeleton is established and analyzed to demonstrate the kinematic compatibility of the exoskeleton. Furthermore, a global torque manipulability (GTM) index is proposed to evaluate the effects of dimensional parameters on the exoskeleton's performance, and then the knee exoskeleton is optimized according to the GTM index. Finally, experiments are conducted to validate the performance of the proposed exoskeleton. The experimental results show that during knee FE and hip IER, the proposed exoskeleton exhibits lower interaction forces and torques than existing exoskeletons.

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An Enhanced Model Free Adaptive Control Approach for Functional Electrical Stimulation Assisted Knee Joint Regulation and Control

Cited by 10 publications

References 34 publications

Muscle Fatigue Regulation through Muscle Activation Control in a Knee Hybrid Exoskeleton: Simulation Study

Muscle Fatigue Regulation through Muscle Activation Control in a Knee Hybrid Exoskeleton: Simulation Study

Closed-loop Functional Electrical Stimulation (FES) – cycling rehabilitation with phase control Fuzzy Logic for fatigue reduction control strategies for stroke patients

Development and Validation of a Self-Aligning Knee Exoskeleton With Hip Rotation Capability

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