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研究生:蔡漢龍
研究生(外文):Han-Lung Tsai
論文名稱:使用功能性電刺激搭配混合式模糊比例控制器於手掌的開展
論文名稱(外文):Hybrid Fuzzy-Proportional Controller for Hand-Opening using Functional Electrical Stimulation
指導教授:余松年余松年引用關係
指導教授(外文):Sung-Nien Yu
學位類別:碩士
校院名稱:國立中正大學
系所名稱:電機工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2004
畢業學年度:92
語文別:英文
論文頁數:56
中文關鍵詞:功能性電刺激模糊比例控制器手掌開展
外文關鍵詞:Functional Electrical StimulationFuzzyProportionalControllerHand-Opening
相關次數:
  • 被引用被引用:0
  • 點閱點閱:188
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  • 下載下載:29
  • 收藏至我的研究室書目清單書目收藏:0
我們提出一個混合式模糊比例控制器來解決功能性電刺激於手掌的開展問題上。為了避免建立複雜且非線性的系統模型,我們採用模糊邏輯控制器的直覺特性。在這個學習當中,我們利用C語言將控制器實現在數位訊號處理晶片發展板上。提出的方法並與比例控制器還有模糊控制器兩種方法比較。
實驗的結果顯示,混合式比例模糊控制器有比其他兩種有較好的效能。這個控制器可以很容易的被實現並且不失模糊控制器的直覺性。除了設計控制器之外,我們也探討以功能性電刺激於手部的開展的特性。
目前為止,我們雖然只有實驗在正常人身上但有不錯的結果。我們規劃在不久的將來可以實驗在病人身上,並且期望有不錯的效果。
We proposed a hybrid fuzzy-proportional controller to deal with the problem of functional electrical stimulation (FES) on hand-opening. In order to avoid the difficulty of modeling complex and nonlinear target system, we adopt the heuristic property of fuzzy logic control. In this study, we implement the controller on the DSP emulation board (STC32) with C language. This controller generates control signal to two electrical stimulators that stimulate the UN and EDC muscles and produce the opening of the stimulated hand.
The proposed controller was compared with the other two controllers, the Proportional controller and the Fuzzy controller. The experimental results show that the performance of hybrid fuzzy-proportional controller outperforms the other two controllers. This controller could be easily implemented and would not lose the heuristic property of fuzzy logic control. In addition to the design of the controller, we also study the properties of the hand-opening by using functional electrical stimulation.
Up to now, we only perform experiments on healthy subjects. The results are impressive. We plan to apply the controllers on patients in the near future and their effects can be expected.
Chapter 1
Introduction 1
1.1 Motivation 1
1.2 Fuzzy Logic Control 2
1.3 Proposed Fuzzy-Proportional Control 3
1.4 The Organization of the thesis 3
Chapter 2
Functional Electrical Stimulation 5
2.1 Voluntarily Control 5
2.2 The Variation of Membrane Potential 6
2.3 Action Potential Propagation 7
2.4 Functional Electrical Stimulation 7
2.5 The survey of FES Control 10
Chapter 3
Fuzzy Logical Control 12
3.1 Fuzzy Set and Membership Function 12
3.2 Elements of Fuzzy Logic System 13
3.3 An example of Fuzzy Logic System 15
3.4 Fuzzy Logic Controller in FES 17
Chapter 4
Hybrid fuzzy logic controller 21
4.1 PID Controller 21
4.2 Hybrid Fuzzy Logic Controller 23
Chapter 5
Experimental Setup and Results 29
5.1 Experimental Setup 29
5.2 Controller Implement 30
5.3 Experimental Results 32
5.4 Discussion 50
Chapter 6
Conclusion and Future Works 51
6.1 Conclusion 51
6.2 Future Works 52
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