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A Computer Simulation Study on Movement Control by Functional Electrical Stimulation Using Optimal Control Technique with Simplified Parameter Estimation

Fauzan ARROFIQI, Takashi WATANABE, Achmad ARIFIN

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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