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The Adaptive Control of FES-assisted Indoor Rowing Exercise

Hussain, Zakaria, Bin Zaidan, Martha Arbayani, Tokhi, M.O. and Jailani, Rozita (2009) The Adaptive Control of FES-assisted Indoor Rowing Exercise. In: Proceedings of 2009 CACS International Automatic Control Conference. Proceedings of 2009 CACS International Automatic Control Conference, Nov. 27-29, 2009, Taipei, Taiwan. , Taipei, Taiwan .

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Abstract

This paper describes the development of an adaptive control mechanism for FES-assisted indoor rowing exercise (FES-rowing). The FES-rowing is intro-duced as a total body exercise for rehabilitation of function of lower body through the application of functional elec-trical stimulation (FES). A model of the rowing ergometer with humanoid is developed using the visual Nastran soft-ware environment (vN4D). A fuzzy logic control (FLC) scheme is designed in Matlab/Simulink and adapted online by pre-training artificial neural network (ANN) to regulate the muscle stimulation pulse width required to drive FES-rowing. The ANN is used as an adaptation to the system that is required to account for muscle fatigue. The results signify that the adaptive control scheme is able to achieve and maintain better tracking performance. This study indicates that the adaptive control developed may provide an effective mechanism for automatically regulat-ing the stimulation pulse width for FES-rowing to over-come muscle fatigue.

Item Type: Proceedings Paper
Keywords: Adaptive control; Fuzzy logic control; Arti-ficial neural network; FES; Rowing exercise.
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield)
Depositing User: Mr Martha Arbayani Bin Zaidan
Date Deposited: 11 Oct 2011 15:21
Last Modified: 08 Feb 2013 17:34
Status: Published
Refereed: Yes
URI: http://eprints.whiterose.ac.uk/id/eprint/43295

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