Multi-input Multi-output Fuzzy Logic Controller for Hybrid Exoskeleton and Functional Electrical Stimulation for Hand Movements Rehabilitation of Hemiparesis Patients

Abstract

Stroke is a clinical syndrome characterized by the sudden development of persistent neurological deficits focused secondary to vascular events. Stroke is the number one cause of disability in the world and the number two cause of death in the world. Two thirds of strokes occur in developing countries. The most common effect in post-stroke conditions is weakening of the upper limbs or hemiparesis, which can be seen in 77% of people who recover. Weakening of the limbs causes the patient to not be able to control hand movements to the maximum so that it affects the ability of individuals to carry out daily activities, one of which is the ability of individuals to hold objects. A hybrid system device of functional electrical stimulation (FES) and soft-exoskeleton is developed. Multiple-Input-Multiple-Output Fuzzy Logic Controller (MIMO-FLC) is used as the control system. There are two inputs, two outputs, and 28 fuzzy rules from the FLC. It was found that the use of MIMO-FLC can integrate exoskeleton and FES better than MISO-FLC in previous studies. The control system using MIMO-FLC is an appropriate and effective method for integrating two different FES and exoskeleton actuation systems.