ADAPTIVE FEEDBACK CONTROLLER FOR FUNCTIONAL ELECTRICAL STIMULATION CONTROL OF THE ELBOW JOINT

Creator: Markus Haukipää,          (Recruitment curve establishment and raw code template) : 横谷隆佑, (Ryusuke Yokoya))
Email: markus.haukipaa@tuni.fi
School / Affiliation:
Tohoku University Biomedical Engineering (Japan),
Tampere University Biomedical Sciences and Engineering (Finland)
Master's Thesis

Description

_The program uses adaptive algorithm to control the simulated Elbow joint angle in excitation. Aiming finding the performance of adaptive Proportional Derivate Integral (PID) controller in elbow angle control. The adaptive is done using Stochastic Extrenum Seeking (SES) algorithm.

This is done to simulate the performance of a real-life automatic Functional Electric Stimulation (FES). It utilizes a simplified arm model from OpenSim, making it well-suited for researching fundamental control challenges, potential solutions and parameter tuning effects. The program allows the testing of variety of different muscle model types. Additionally, program does the visualizing of the process and collecting and showing the important data points._

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📁 Muscle_models/

Description:
Different model information from OpenSim. In the simulation default is used.

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📁 Program/

Description:
Holds all nessesary for running the program

• Main/ – Main control and functionality
• sub/ – Supporting functions or modules used by Main.

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📁 Result_Folder/

Description:
Stores output data generated from simulation runs.

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📄 .gitignore

Standard Git ignore file to exclude temporary or generated files from version control.

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📄 README.md

_You're looking at it!

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Getting Started

More descriptive demands on needs can be found from the OpenSim's website.
Python 3.8 is needed for the Opensim 4.5 that we utilize. Main folder holds the main files. The Control_Panel functions as the main control of the Simulator. There you may change the models, trajectories and the controllers used. Run the Control_Panel to run the program.

Simulator holds basic functionality. ES,SES_algorithm and PID_controller work together as the adaptive controller. Changes to them can be made in their respected files. Osim file initilizes and works as the interference to Opensim.

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