A hybrid method based on fuzzy inference and non-linear oscillators for real-time control of gait

J. C. Moreno, Jose L Pons, E. Rocon, Y. Demiris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Robust generation of motor commands for real-time control of locomotion with artificial means is crucial for human safety. This paper addresses the combination of fuzzy inference for determination of rules with a non linear oscillator system, as generators of motor commands for the control of human leg joints during walking, by means of external gait compensators, e.g. exoskeletons, functional electrical stimulation or hybrid systems. The response of the proposed method is evaluated for variations in stride frequency and step length. The testing during gait conditions is performed considering inertial sensing as feedback in a simulation study. The reference data considered is obtained in multiple experiments with healthy subjects walking with a controllable exoskeleton designed to compensate quadriceps weakness. A model of the operation of the knee joint compensation provided by the exoskeleton is obtained as reference to evaluate the method based on real data. The results demonstrate the benefits of both incorporating a) the fuzzy inference system in cyclical decision making for generation of motor commands and b) the dynamic adaptation of the timing parameters of the external compensator provided by the van der Pol oscillator.

Original languageEnglish (US)
Title of host publicationBIOSIGNALS 2008 - Proceedings of the 1st International Conference on Bio-inspired Systems and Signal Processing
Pages44-51
Number of pages8
StatePublished - 2008
EventBIOSIGNALS 2008 - 1st International Conference on Bio-inspired Systems and Signal Processing - Funchal, Madeira, Portugal
Duration: Jan 28 2008Jan 31 2008

Publication series

NameBIOSIGNALS 2008 - Proceedings of the 1st International Conference on Bio-inspired Systems and Signal Processing
Volume2

Other

OtherBIOSIGNALS 2008 - 1st International Conference on Bio-inspired Systems and Signal Processing
CountryPortugal
CityFunchal, Madeira
Period1/28/081/31/08

Keywords

  • Fuzzy inference systems
  • Gait compensation
  • Inertial sensing
  • Non-linear oscillators

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Control and Systems Engineering

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