Position control with PID regulation for a FES system: preliminary results

19th Argentinean Bioengineering Society Congress

Schiaffino, L.^1,2 ; Tabernig, C.B.^1

Laboratory of Rehabilitation Engineering and Neuromuscular and Sensorial Research (LIRINS), National University of Entre Ríos, Route 11, Km 10, Oro Verde city, CP(3101), Argentina^1

Electronic Department, National University of Entre Ríos, Route 11, Km 10, Oro Verde city, CP(3101), Argentina^2

关键词: Closed-loop control;    Control design;    External perturbations;    PID controllers;    Precision movement;    Sagittal plane;    Spinal cord injuries (SCI);    Standard deviation;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/477/1/012039/pdf
DOI  :  10.1088/1742-6596/477/1/012039

来源: IOP

【 摘 要 】

For people with quadriplegia at C3 and C7 levels functional electric stimulations (FES) could be a solution to make precision movements using the wrist. Closed loop control for FES systems enables to improve precision, stability and diminishes the impact of external perturbations. The goal of this work is to present a control position of the wrist articulation whenever the movement is produced by FES. In this article, a control design is developed along with the results of its first evaluation process on three voluntary individuals without neurological damage. A PID controller is used and it is adjusted experimentally for each test subject. A Constant reference for the wrist extension angle at sagittal plane and time evaluation of 10 minute was used to probe de PID. For two subjects the regulators responded reasonably with low mean errors and low standard deviations. For subject 3 the designed regulator did not succeed in stabilizing the position as from minute 6 in the second test. Preliminary studies of this work suggest that it could be possible to continue with the study of the closed loop position control with PID strategy in some people with spinal cord injuries whose movements are assisted by FES.