Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Control Simulation in Functional Electrical Stimulation Application
Submission Author:
Douglas Garcia , SP , Brazil
Co-Authors:
Douglas Garcia, Paulo Marcos AGUIAR
Presenter: Douglas Garcia
doi://10.26678/ABCM.COBEM2017.COB17-2749
Abstract
Through the use of Musculoskeletal Modelling Software (MSMS) together with Matlab - Simulink, a tool called Model Control and Musculoskeletal Simulation (MCSM) has been developed, which allows the simulation of an electrical stimulation generator in conjunction with a PID controller, acting on the musculoskeletal model simulated by computer. Thus, it is possible to simulate the muscle response to an electrical stimulus, helping to reduce the use of human beings in the preliminary stages of the development of Functional Electrical Stimulation (FES) orthoses. As an example of application, an FES orthosis is simulated which acts on the muscles of the biceps and triceps to achieve the angular position of the arm relative to the forearm of a person. Important concepts about FES applications are explored, allowing us to understand details of the development of MCSM, where the simulated arm is positioned at different angle. To achieve this result, the gains of the PID controller were obtained through the experimental methods proposed by Ziegler-Nichols making use of two criteria of calculations, to determine the best approach for the tuning of PID gains resulting in a more realistic behavior. From the tests performed to preset positioning angle, trend curves were generated for PID gains, where it is assumed that the variation in gains between known points can be represented by a straight line, which allows to calculate the value of gains at intermediate angular positions. These dealings contribute to the development of a controller for automatic tuning of the PID gains starting from predefined angle. It was found a PID gains to allow a more coherent movement with the concept of functionality expected for an FES orthosis, generating a significant contribution for developing biomechanical devices, which allow greater motor independence to patients.
Keywords
Computer simulation, Functional Electrical Stimulation FES, Control Biomechanics, Skeletal Muscle
