Features Extraction from a Second-Order Black Box Model Matched to the Veltink Model for a System Identification of Knee Extension for Control Law and Formulations of Close-Loop Controller Rehabilitation Using Functional Electrical Stimulation

Arof, Saharul; Noorsal, Emilia; Yahaya, Saiful Zaimy; Ibrahim, Nor Haslina; Arof, Hamzah

doi:10.1007/978-3-030-93250-3_5

Cited by 3 publications

(3 citation statements)

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“…However, the performance of feedback controllers in closed-loop FES devices can deteriorate substantially when confronted with non-linear effects, such as stiffness, fatigue, spasticity, and time delay, as documented in previous research [1]- [4]. The effectiveness of the feedback controllers declines when the knee and muscles experience fatigue and spasticity [2]- [5]. The feedback controllers were only tuned during the simulation design stage, where muscle non-linearity effects and other non-linear disturbances were either ignored or represented by a single predicted value to characterise the non-linear response of the muscle model [3].…”

Section: Introductionmentioning

confidence: 93%

“…The knee extension model, which requires specific system parameters and dynamics, was developed using the method employed by Veltink et al [27]. The given parameters were used in (2) to create such a model:…”

Section: Knee Extension Modelmentioning

confidence: 99%

“…The established transfer function model from (2) for the knee extension model is updated, as shown in (4).…”

Section: Knee Extension Modelmentioning

confidence: 99%

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Pole placement tuning of proportional integral derivative feedback controller for knee extension model

Arof,

Noorsal,

Yahaya

et al. 2024

IJEECS

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Functional electrical stimulation (FES) has shown potential in rehabilitative exercises for patients recovering from spinal cord injuries. In recent developments, conventional open-loop FES control techniques have evolved into closed-loop systems that employ feedback controllers for automation. However, closed-loop FES systems often face challenges due to muscle non-linear effects, such as fatigue, time delays, stiffness, and spasticity. Therefore, an accurate non-linear knee model is required during the design stage, and precise tuning of the feedback controller parameters is vital. A proportional– integral–derivative (PID) controller is commonly used as a feedback controller due to its simplicity and ease of implementation. However, most PID tuning methods are complex and time consuming. This paper investigates the viability of employing the pole placement technique for tuning a PID controller that regulates the non-linear knee extension model. The pole placement method aims to improve the control and adaptability of the PID controller in closed-loop FES systems, specifically by facilitating knee extension exercises. MATLAB Simulink was used to assess the effectiveness of this tuning approach. Results showed that the PID controller performed satisfactorily without non-linearities, but performance varied with the inclusion of specific non-linearities. The pole placement tuning method facilitated preliminary assessments of PID controller performance, preceding highly advanced optimization.

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