Fuzzy logic control of FES rowing exercise in paraplegia.
An indoor personal rowing machine (Concept 2 Inc., Morrisville, VT) has been modified for functional electrical stimulation assisted rowing exercise in paraplegia. To successfully perform the rowing maneuver, the voluntarily controlled upper body movements must be coordinated with the movements of the electrically stimulated paralyzed legs. To achieve such coordination, an automatic controller was developed that employs two levels of hierarchy. A high level finite state controller identifies the state or phase of the rowing motion and activates a low-level state-dedicated fuzzy logic controller (FLC) to deliver the electrical stimulation to the paralyzed leg muscles. A pilot study with participation of two paraplegic volunteers showed that FLC spent less muscle energy, and produced smoother rowing maneuvers than the existing On-Off constant-level stimulation controller.
Alfred E. Mann Institute and Department of Biomedical Engineering, University of Southern California, 1042 West 36th Place DRB-101, Los Angeles, CA 90089-1112, USA. davoodi@usc.edu
Rahman
R
Davoodi
Brian J
BJ
Andrews
D000368:Aged; D004599:Electric Stimulation Therapy / Q000379:methods*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D016552:Ergometry / Q000295:instrumentation / Q000379:methods*; D005081:Exercise Therapy / Q000295:instrumentation / Q000379:methods*; D005246:Feedback; D017143:Fuzzy Logic; D006801:Humans; D008875:Middle Aged; D010264:Paraplegia / Q000503:physiopathology* / Q000534:rehabilitation*; D004856:Postural Balance; D013813:Therapy, Computer-Assisted / Q000295:instrumentation / Q000379:methods*