Control of FES-Assisted Elliptical Stepping Exercise Using Fuzzy Logic Controller

Abstract

This paper presents the implementation of a fuzzy logic controller (FLC) for an FES-assisted elliptical stepping exercise in stroke rehabilitation. The purpose of the system is to restore the function of the lower extremities for the stroke subject through the application of a Functional Electrical Stimulation (FES) in specified exercise technique. The physiologically-based muscle model is developed to represent the quadriceps muscle of the paretic leg. The FES-induced movement at the paretic leg and voluntary movement at the non-paretic leg is coordinated using a control strategy to achieve a smooth exercise movement. Simulation result verifying the control strategy is presented and discussed.