A Hybrid-Fes Based Control System For Knee Joint Movement Control

Introduction: utilizing functional electrical stimulation (fes) and rehabilitation robotsfor motion control is an open research problem. in this paper, a new control algorithm hasbeen proposed which was de-signed based on a combination of fes and an active mechanicalactuator to control the knee joint movement.methods: an adaptive controller and a proportional-derivative (pd) controller have adjustedthe mo-tor torque and stimulation intensity, respectively. the fes controller was activatedwhenever a dis-turbance observer detected the presence of the external disturbance. in thismanner, the occurrence of the muscle fatigue arises from the fes can be postponed.results: the simulation studies were carried out on a model of muscle-joint system along witha model of a servo-motor. the computed rms of the tracking errors compared to the range ofknee motion show that the tracking performance is acceptable. in this research, the trajectoriesenvisioned as the knee joint reference trajectory were designed using the recorded human data.conclusion: the achieved results prove the ability of the proposed control strategy to not onlyreject the external disturbance but also compensate the muscle fatigue.