IEICE TRANSACTIONS on Information
A Computer Simulation Study on Movement Control by Functional Electrical Stimulation Using Optimal Control Technique with Simplified Parameter Estimation
Summary :
The purpose of this study was to develop a practical functional electrical stimulation (FES) controller for joint movements restoration based on an optimal control technique by cascading a linear model predictive control (MPC) and a nonlinear transformation. The cascading configuration was aimed to obtain an FES controller that is able to deal with a nonlinear system. The nonlinear transformation was utilized to transform the linear solution of linear MPC to become a nonlinear solution in form of optimized electrical stimulation intensity. Four different types of nonlinear functions were used to realize the nonlinear transformation. A simple parameter estimation to determine the value of the nonlinear transformation parameter was also developed. The tracking control capability of the proposed controller along with the parameter estimation was examined in controlling the 1-DOF wrist joint movement through computer simulation. The proposed controller was also compared with a fuzzy FES controller. The proposed MPC-FES controller with estimated parameter value worked properly and had a better control accuracy than the fuzzy controller. The parameter estimation was suggested to be useful and effective in practical FES control applications to reduce the time-consuming of determining the parameter value of the proposed controller.
- Publication
- IEICE TRANSACTIONS on Information Vol.E106-D No.5 pp.1059-1068
- Publication Date
- 2023/05/01
- Publicized
- 2023/02/21
- Online ISSN
- 1745-1361
- DOI
- 10.1587/transinf.2022EDP7093
- Type of Manuscript
- PAPER
- Category
- Rehabilitation Engineering and Assistive Technology
Authors
Fauzan ARROFIQI
Tohoku University
Takashi WATANABE
Tohoku University
Achmad ARIFIN
Institut Teknologi Sepuluh Nopember (ITS)
Keyword
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Fauzan ARROFIQI, Takashi WATANABE, Achmad ARIFIN, "A Computer Simulation Study on Movement Control by Functional Electrical Stimulation Using Optimal Control Technique with Simplified Parameter Estimation" in IEICE TRANSACTIONS on Information,
vol. E106-D, no. 5, pp. 1059-1068, May 2023, doi: 10.1587/transinf.2022EDP7093.
Abstract: The purpose of this study was to develop a practical functional electrical stimulation (FES) controller for joint movements restoration based on an optimal control technique by cascading a linear model predictive control (MPC) and a nonlinear transformation. The cascading configuration was aimed to obtain an FES controller that is able to deal with a nonlinear system. The nonlinear transformation was utilized to transform the linear solution of linear MPC to become a nonlinear solution in form of optimized electrical stimulation intensity. Four different types of nonlinear functions were used to realize the nonlinear transformation. A simple parameter estimation to determine the value of the nonlinear transformation parameter was also developed. The tracking control capability of the proposed controller along with the parameter estimation was examined in controlling the 1-DOF wrist joint movement through computer simulation. The proposed controller was also compared with a fuzzy FES controller. The proposed MPC-FES controller with estimated parameter value worked properly and had a better control accuracy than the fuzzy controller. The parameter estimation was suggested to be useful and effective in practical FES control applications to reduce the time-consuming of determining the parameter value of the proposed controller.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.2022EDP7093/_p
Copy
@ARTICLE{e106-d_5_1059,
author={Fauzan ARROFIQI, Takashi WATANABE, Achmad ARIFIN, },
journal={IEICE TRANSACTIONS on Information},
title={A Computer Simulation Study on Movement Control by Functional Electrical Stimulation Using Optimal Control Technique with Simplified Parameter Estimation},
year={2023},
volume={E106-D},
number={5},
pages={1059-1068},
abstract={The purpose of this study was to develop a practical functional electrical stimulation (FES) controller for joint movements restoration based on an optimal control technique by cascading a linear model predictive control (MPC) and a nonlinear transformation. The cascading configuration was aimed to obtain an FES controller that is able to deal with a nonlinear system. The nonlinear transformation was utilized to transform the linear solution of linear MPC to become a nonlinear solution in form of optimized electrical stimulation intensity. Four different types of nonlinear functions were used to realize the nonlinear transformation. A simple parameter estimation to determine the value of the nonlinear transformation parameter was also developed. The tracking control capability of the proposed controller along with the parameter estimation was examined in controlling the 1-DOF wrist joint movement through computer simulation. The proposed controller was also compared with a fuzzy FES controller. The proposed MPC-FES controller with estimated parameter value worked properly and had a better control accuracy than the fuzzy controller. The parameter estimation was suggested to be useful and effective in practical FES control applications to reduce the time-consuming of determining the parameter value of the proposed controller.},
keywords={},
doi={10.1587/transinf.2022EDP7093},
ISSN={1745-1361},
month={May},}
Copy
TY - JOUR
TI - A Computer Simulation Study on Movement Control by Functional Electrical Stimulation Using Optimal Control Technique with Simplified Parameter Estimation
T2 - IEICE TRANSACTIONS on Information
SP - 1059
EP - 1068
AU - Fauzan ARROFIQI
AU - Takashi WATANABE
AU - Achmad ARIFIN
PY - 2023
DO - 10.1587/transinf.2022EDP7093
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E106-D
IS - 5
JA - IEICE TRANSACTIONS on Information
Y1 - May 2023
AB - The purpose of this study was to develop a practical functional electrical stimulation (FES) controller for joint movements restoration based on an optimal control technique by cascading a linear model predictive control (MPC) and a nonlinear transformation. The cascading configuration was aimed to obtain an FES controller that is able to deal with a nonlinear system. The nonlinear transformation was utilized to transform the linear solution of linear MPC to become a nonlinear solution in form of optimized electrical stimulation intensity. Four different types of nonlinear functions were used to realize the nonlinear transformation. A simple parameter estimation to determine the value of the nonlinear transformation parameter was also developed. The tracking control capability of the proposed controller along with the parameter estimation was examined in controlling the 1-DOF wrist joint movement through computer simulation. The proposed controller was also compared with a fuzzy FES controller. The proposed MPC-FES controller with estimated parameter value worked properly and had a better control accuracy than the fuzzy controller. The parameter estimation was suggested to be useful and effective in practical FES control applications to reduce the time-consuming of determining the parameter value of the proposed controller.
ER -
English
