نوع مقاله: مقاله کامل پژوهشی

نویسندگان

1 دانشجوی کارشناسی ارشد مهندسی پزشکی بیوالکتریک، دانشگاه علم و صنعت ایران، دانشکده مهندسی برق

2 دانشیار مهندسی پزشکی بیوالکتریک، دانشگاه علم و صنعت ایران، دانشکده مهندسی برق

10.22041/ijbme.2011.13162

چکیده

در طی دو دهه اخیر، تحریک الکتریکی درون عضلانی به عنوان یک روش بالقوه به منظور بازیابی حرکت عضو فلج مطرح شده است. اصلی ترین چالش در بازیابی حرکت مطلوب در استفاده از تحریک الکتریکی درون عضلانی توسعه یک استراتژی کنترلی مقاوم برای تعیین الگوی‌های تحریک می‌باشد. کنترل دقیق و پایدار عضو در روش تحریک الکتریکی عملکردی درون عضلانی بدلیل خواص غیر خطی و متغیر با زمان سیستم عصبی- عضلانی و همچنین خستگی عضلانی زودرس و وجود تأخیر در این سیستم، مشکل می‌باشد. در این مطالعه تحقیقاتی یک استراتژی مقاوم برای کنترل حرکت چند مفصله با استفاده از تحریک الکتریکی درون عضلانی مطرح شده است. در این روش پارامتر‌های سیستم به صورت بر خط شناسایی می‌شود. روش ارائه شده ترکیبی از روش کنترل لغزشی با سیستم منطق فازی و کنترل کننده عصبی می‌باشد. به منظور ارزیابی  مقاوم بودن، پایداری و دقت کنترل کننده، آزمایشات زیادی بر روی سه رت انجام شده است. نتایج آزمایشات نشان می‌دهد که روش پیشنهادی قابلیت کنترل دقیق حرکت گام برداشتن  با همگرایی سریع را دارد.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Adaptive Neuro-Fuzzy Sliding Mode control of Walking Using Intramuscular Electrical Stimulation in Rat Model

نویسندگان [English]

  • Abed Khorasani 1
  • Abbas Erfanian Omidvar 2

1 M.Sc Graduated, Iran Neural Technology Centre, Iran University of Science and Technology

2 Associate Professor, Iran Neural Technology Centre, Iran University of Science and Technology

چکیده [English]

During the last decade, functional neuromuscular stimulation (FNS) has been proposed as a potential technique for restoring motor function in paralyzed limbs. A major challenge to restoring a desired functional limb movement through the use of intramuscular stimulation is the development of a robust control strategy for determining the stimulation patterns. A major impediment to stimulating the paralyzed limbs and determining the stimulation pattern has been the highly non-linear, time-varying properties of electrically stimulated muscle, muscle fatigue, large latency and time constant which limit the utility of pre-specified stimulation pattern and open-loop FES control system. In this paper we present a robust strategy for multi-joint control through intramuscular stimulation in which the system parameters are adapted online and the controller requires no offline training phase. The method is based on the combination of sliding mode control with fuzzy logic and neural control. Extensive experiments on three rats are provided to demonstrate the robustness, stability, and tracking accuracy of the proposed method. The results show that the proposed strategy can provide accurate tracking control with fast convergence.

کلیدواژه‌ها [English]

  • Functional electrical stimulation
  • intramuscular stimulation
  • Fuzzy logic
  • sliding mode control

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