Roshani Amir, Erfanian Abbas
Iran Neural Technology Centre, Department of Biomedical Engineering, Iran University of Science and Technology (IUST), Tehran, Iran.
Basic Clin Neurosci. 2013 Summer;4(3):232-43.
In this paper, a control strategy is proposed for control of ankle movement on animals using intraspinal microstimulation (ISMS). The proposed method is based on fuzzy logic control. Fuzzy logic control is a methodology of intelligent control that mimics human decision making process. This type of control method can be very useful for the complex uncertain systems that their mathematical model is unknown. To increase the stability and speed of the system's response and reduce the steady-state error, we combine the FLC with a lead (lag) compensator. The experiments are conducted on five rats. Microelectrodes are implanted into the spinal cord to provide selective stimulation of plantarflexor and dorsiflexor. The results show that motor functions can be restored using ISMS. Despite the complexity of the spinal neuronal networks and simplicity of the proposed control strategy, our results show that the proposed strategy can provide acceptable tracking control with fast convergence.
本文提出了一种利用脊髓内微刺激（ISMS）控制动物踝关节运动的控制策略。所提出的方法基于模糊逻辑控制。模糊逻辑控制是一种模仿人类决策过程的智能控制方法。这种控制方法对于数学模型未知的复杂不确定系统非常有用。为了提高系统响应的稳定性和速度并减小稳态误差，我们将模糊逻辑控制器（FLC）与超前（滞后）补偿器相结合。在五只大鼠上进行了实验。将微电极植入脊髓以提供对跖屈肌和背屈肌的选择性刺激。结果表明，使用ISMS可以恢复运动功能。尽管脊髓神经网络复杂且所提出的控制策略简单，但我们的结果表明，所提出的策略可以提供具有快速收敛性的可接受的跟踪控制。
