Knee joint model identification using genetic algorithms

B. S.K.K. Ibrahim, M. S. Huq, M. O. Tokhi, S. C. Gharooni, R. Jailani, Z. Hussain

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

Abstract

FES requires an accurate model of electrically stimulated muscles to control the muscle contraction force. Characterization of electrically stimulated muscle is complex because of the non-linearity and time varying nature of the system with interdependent variables. The muscle model consists of passive properties and active properties. In this research a new approach for estimating passive and active properties of the electrically stimulated quadriceps muscle group is investigated. The objective of this study is to develop a model for the passive and active joint properties of paraplegic for control system development. Passive properties such as elasticity moment and viscosity moment are identified from a passive pendulum test. Active properties including muscle activation and contraction are identified from an electrically stimulated swinging leg test. The identification and estimation approach are based on genetic algorithm tuning of a fuzzy system.

Original languageEnglish
Title of host publicationMobile Robotics
Subtitle of host publicationSolutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009
EditorsO. Tosun, M. O. Tokhi, G. S. Virk, H. L. Akin
PublisherWorld Scientific Publishing
Pages1145-1152
Number of pages8
ISBN (Print)9814291269, 9789814291262
DOIs
Publication statusPublished - Oct 2009
Externally publishedYes
Event12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - Istanbul, Turkey
Duration: 9 Sep 200911 Sep 2009
Conference number: 12

Publication series

NameMobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009

Conference

Conference12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Abbreviated titleCLAWAR 2009
CountryTurkey
CityIstanbul
Period9/09/0911/09/09

Fingerprint

Muscle
Identification (control systems)
Genetic algorithms
Fuzzy systems
Pendulums
Elasticity
Tuning
Chemical activation
Viscosity
Control systems

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Ibrahim, B. S. K. K., Huq, M. S., Tokhi, M. O., Gharooni, S. C., Jailani, R., & Hussain, Z. (2009). Knee joint model identification using genetic algorithms. In O. Tosun, M. O. Tokhi, G. S. Virk, & H. L. Akin (Eds.), Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009 (pp. 1145-1152). (Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009). World Scientific Publishing. https://doi.org/10.1142/9789814291279_0139

Knee joint model identification using genetic algorithms. / Ibrahim, B. S.K.K.; Huq, M. S.; Tokhi, M. O.; Gharooni, S. C.; Jailani, R.; Hussain, Z.

Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009. ed. / O. Tosun; M. O. Tokhi; G. S. Virk; H. L. Akin. World Scientific Publishing, 2009. p. 1145-1152 (Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009).

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

Ibrahim, BSKK, Huq, MS, Tokhi, MO, Gharooni, SC, Jailani, R & Hussain, Z 2009, Knee joint model identification using genetic algorithms. in O Tosun, MO Tokhi, GS Virk & HL Akin (eds), Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009. Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009, World Scientific Publishing, pp. 1145-1152, 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey, 9/09/09. https://doi.org/10.1142/9789814291279_0139
Ibrahim BSKK, Huq MS, Tokhi MO, Gharooni SC, Jailani R, Hussain Z. Knee joint model identification using genetic algorithms. In Tosun O, Tokhi MO, Virk GS, Akin HL, editors, Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009. World Scientific Publishing. 2009. p. 1145-1152. (Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009). https://doi.org/10.1142/9789814291279_0139
Ibrahim, B. S.K.K. ; Huq, M. S. ; Tokhi, M. O. ; Gharooni, S. C. ; Jailani, R. ; Hussain, Z. / Knee joint model identification using genetic algorithms. Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009. editor / O. Tosun ; M. O. Tokhi ; G. S. Virk ; H. L. Akin. World Scientific Publishing, 2009. pp. 1145-1152 (Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009).
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