Knee-FES-Ergometer for Paretic Knee Swinging Exercise: Tuning of PID Controller Using PSO

Abstract:

This paper describes the parameter optimization of PID controllers of knee-FES-ergometer used to control the paralyzed knee for smooth swinging exercise. The knee-FES-ergometer is a machine that helps elongate knee swinging exercise of paralyzed people by reducing the required electrical stimulus. Particle swarm optimization (PSO) is used to optimize the PID parameters and the performance of swinging exercise are compared with the manually tuned PID parameters. Results shows that the PSO tuned PID have improved the quality of knee swinging exercise if compared with the manually tuned PID but the number of iteration for the PSO to converge is considered high and takes very long time.

• Periodical: Applied Mechanics and Materials (Volume 598)
• Pages: 595-601
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.598.595
• Online since: July 2014
• Authors: Rozan Boudville*, Zakaria Hussain, Saiful Zaimy Yahaya, Mohd Nasir Taib, Fadzil Ahmad
• Keywords: Ergometer, FeS, Paretic Knee, PID, PSO

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