Dynamic modeling and simulation of free swinging shank for hemiplegics

2013

AMM

This paper presents the development of a fuzzy logic controller for a knee-FES-ergometer for stroke patients knee swinging exercise. The knee-FES-ergometer is introduced as a hybrid exercise for a long repetitive knee swinging exercise for stroke patient through the application of a knee swinging ergometer and functional electrical stimulation. The specially designed ergometer is used to reduce the required electrical stimulation and hence avoids early muscle fatigue. A knee swinging ergometer model, humanoid model and a stimulated quadriceps muscle model are developed to simulate the FES-assisted knee swinging exercise. A fuzzy logic controller is then designed to control the repetitive knee swinging. Simulation results verifying the knee swinging trajectories and the reduced electrical stimulation required are presented and discussed.

Section: Methodsmentioning

confidence: 99%

Fuzzy Logic Control of Knee-FES-Ergometer for Stroke Patients Knee Swinging Exercise

2013

AMM

“…Remnemark investigated the development of hemiosteoporosis in relation to other changes in body composition of paretic and non-paretic side during the first year after severe stroke. However, this research focuses on patients at inclusion after brain lesion since electrical stimulation has to start as early as possible as suggested by Ernst et al [22] instead of one year after stroke as done in [20]. Hence, we assume there were no significant differences between mass in both paretic and non-paretic sides at inclusion of stroke.…”

Section: A Humanoid Modelmentioning

confidence: 97%

“…This is based on the work done in [20] where the model was developed with characteristics of stroke patients taken from the study done by Remnemark et. al.…”

Section: A Humanoid Modelmentioning

confidence: 99%

Dynamic modeling and control of FES-assisted knee ergometer for stroke patient

2012 IEEE International Conference on Control System, Computing and Engineering

et al. 2012

Self Cite

Functional electrical stimulation (FES) -induced limb movement is believed to provide therapeutic benefits for stroke patients. However, direct stimulation for a continuous repetitive movement can cause early muscle fatigue and ruin the patients desire to continue exercising. In this study, a model of a FESassisted knee ergometer was developed to utilize the voluntary non-paretic leg movement to assist the FES-induced paretic leg of stroke patients. A 'changing-in-direction' knee movement mechanism driven by a bevel gearbox allows the paretic knee to extend with energy contributed from the flexed non-paretic leg. This novel ergometer helps to reduce about 43% of the required electrical stimulation. Although the present study did not include the incorporation of the muscle model, its applicability in reducing muscle fatigue can be expected. The reduced electrical stimulation with the aid of the ergometer was able to perform full knee extension and this action was repetitively controlled with a PID controller. A repetitive FES-induced knee exercise was performed and the maximum error between the actual and reference knee trajectories was recorded to be as lower as 2.7˚. It was shown that the knee ergometer which allows the utilization of the voluntary non-paretic movement had reduced the required stimulation to perform repetitive knee extension of the paretic leg.

“…This is based on the work done in [13] where the model was developed with characteristics of stroke patients taken from the study done by Remnemark et. al.…”

Section: A Humanoid Modelmentioning

confidence: 99%

Muscle Extension Model for FES-Assisted Knee Swinging Ergometer for Stroke Patient

2013 Fifth International Conference on Computational Intelligence, Communication Systems and Networks

et al. 2013

This work is focused on the development of physiological and mathematical model of muscle extension induced by FES-assisted knee swinging ergometer. A muscle model composed of muscle activation, muscle contraction and body segmental dynamics is developed to perform full knee extension. The developed muscle model is then incorporated with a humanoid model and a knee swinging ergometer model to perform simulation of FES-assisted knee swinging exercise. The developed humanoid model possesses the characteristics of stroke patient while the knee swinging ergometer was developed with the ability of utilizing the non-paretic knee in assisting the swinging of the paretic knee. The developed muscle model is evaluated under the dynamic simulation of FES-assisted knee swinging ergometer. The active torque and knee trajectories are recorded and the results shows that the design of knee swinging ergometer had successfully reduced the required stimulation pulse width in performing full knee extension. It is also suggested that the muscle model developed can be used for future analysis and control development of FES-assisted knee swinging ergometer for stroke patient.