A feasibility study of fuzzy FES controller based on cycle-to-cycle control: An experimental test of knee extension control

Functional Electrical Stimulation (FES) can be effective in assisting or restoring paralyzed motor functions. The purpose of this study is to examine experimentally the fuzzy controller based on cycle-to-cycle control for FES-induced gait. A basic experimental test was performed on controlling maximum knee extension angle with normal subjects. In most of control trials, the joint angle was controlled well compensating changes in muscle responses to electrical stimulation. The results show that the fuzzy controller would be practical in clinical applications of gait control by FES. An automatic parameter tuning would be required practically for quick responses in reaching the target and in compensating the change in muscle responses without causing oscillating responses.