NEURO FUZZY CONTROL OF THE FES ASSISTED FREELY SWINGING LEG OF PARAPLEGIC SUBJECTS

Jaap H. van der Spek, Wubbe J. R. Velthuis, Peter H. Veltink, Theo J. A. de Vries
Faculty of Electrical Engineering, University of Twente, P.O. Box 217, 7500 AE Enschede, the Netherlands, mail to: J.H.vanderspek@student.utwente.nl

We designed a neuro fuzzy control strategy for control of cyclical leg movements of paraplegic subjects. The cyclical leg movements were specified by three ‘swing phase objectives’, characteristic of natural human gait. The neuro fuzzy controller is a combination of a fuzzy logic controller and a neural network, which makes the controller self tuning and adaptive. Two experiments have been performed, in which the performance of the neuro fuzzy control strategy has been compared with a conventional PID control strategy.

<more | download>