Fast Geometric T2-Fuzzy Based Improved Lower Extremities Stimulation Response
Abstract: This study
emphasizes the use of type-2 fuzzy (T2-Fuzzy) to improve the adaptive
proportional-integrative-derivative (PID) control in the lower extremities.
Several problems were identified from previous studies and those were the slow
achievement of the target angle and the presence of oscillation in the
achievement of the target blade. The oscillation occurred as the consequence of
deploying the early adaptive PID which was not sufficient to overcome the lower
extremities nonlinearity. The difference between proposed method of T2-Fuzzy
and the others lies in the defuzzification. This research adopts a fast
geometric defuzzification that maintains the level of uncertainty T2-Fuzzy in
real-time. A functional electrical stimulation (FES) stimulator is proposed to
design and to be connected to the computer for processing the T2-Fuzzy. This
stimulator stimulates lower extremities of normal subjects each cycle, and the
computer record the point of measured achievement of using a goniometer sensors
mounted on a knee joint. The results show that the target point of lower
extremities is achieved within three initial cycles without oscillations in the
achievement of the angle. It is also found that T2-Fuzzy is able to immediately
restore the point of achievement when the external parameters of control occur.
Penulis: Hendi Wicaksono
Kode Jurnal: jptkomputerdd100044
