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Introducing a suitable Controller for Rowing Activity in Patients with Spinal CordInjuries using FES

Zarei, Mohammad | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43476 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Jahed, Mehran
  7. Abstract:
  8. Disconnections in neural paths from the central nervous system to the muscles or vice versa cause different neuropathies, thus paralysis in different limbs may occur. As a result of the lack of muscular activity and the decrease in blood perfusion in paralyzed limbs, problems like osteoporosis, increase in the risk of breaking, decline in muscle size, cardiovascular diseases, renal dysfunction, bedsores, etc may happen. In order to induce movement in paralyzed limbs, thus preventingmentioned problems, rowing exercise through Functional Electrical Stimulation (FES) may be utilized. In FES, electrical Stimulation using current stimulating pulses is applied to contracting and relaxing muscles, as a result the impaired limbmay be partially restored and movement will be induced. This research introduces a FES based control scheme for effective utilization of rowing exercise for spinal cord injured (lower limb paralyzed) patients.The project is developed in two sections: musculoskeletal system and controlschemes.The musculoskeletal system itself is branched into skeletal structure and muscular structure. The skeletal structure is developed using the Euler- Lagrange equations using three degrees of freedom in the joints of ankle, knee and hip, based on the work and energy of the system. The muscular section consists of groups of contracting and relaxing muscles in each of the joints.In order to suitablycontrol each of the prescribedoutput joint angles, desired angles are required as the reference signals. In this project the reference or desired angles and external forces are obtained by an experimental setup utilizing rowing action by a healthy individual.The project is carried out in two phases. In the first phase rowing movement is controlled without muscles and in its skeletal form where individual control of prescribed Joint angles is performed simultaneously. Three control solutions, namely adaptive nonlinear control, PID and feedback linearization, are used in the this phase. In the second phase, proposed control scheme is carried out in the presence of musclegroups. In this phase, three control schemes, namely PID, decentralized adaptive control and fuzzy logic based control are used.The Root Mean Square error (RMS)is utilized as a performance index in order toverifythe resultsof both phases.

  9. Keywords:
  10. Feedback Linearization ; Eulerian-Lagrangian Equation ; Fuzzy Control ; Musculoskeletal System ; Adaptive Nonlinear Control ; Rowing ; Functional Electrical Stimulation

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