Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Implementation of FES Cycling using only Knee Muscles : A Computer Simulation Study

슬관절 근육만을 이용한 FES 싸이클링 : 컴퓨터 시뮬레이션 연구

  • Published : 2004.08.01
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Abstract

The purpose of this study is to generate cycling motion for FES (functional electrical stimulation) using knee muscles only. We investigated the possibility by simulation. The musculoskeletal model used in this simulation was simplified as 5-rigid links and 2 muscles (knee extensor and flexor). For the improvement of the present feedforward control in FES, we included feedback path in the control system. The control system was developed based on the biological neuronal system and was represented by three sub-systems. The first is a higher neuronal system that generates the motion command for each joint. The second is the lower neuronal system that divides the motion command to each muscle. And the third is a sensory feedback system corresponding to the somatic sensory system. Control system parameters were adjusted by a genetic algorithm (GA) based on the natural selection theory. GA searched the better parameters in terms of the cost function where the energy consumption, muscle force smoothness, and the cycling speed of each parameter set (individual) are evaluated. As a result, cycling was implemented using knee muscles only. The proposed control system based on the nervous system model worked well even with disturbances.

Keywords

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