Proposta de Reabilitação Motora baseada em Simulação de um Controlador RST com Estimulação Elétrica Funcional para Flexão de Quadril e Joelho.

Abstract

In this article, strategies to control knee flexion and hip flexion are presented based on the excitation of the muscles responsible for such movements, in view of the widespread use of functional electrical stimulation (FES) for treatment of neurological diseases, accidents, among others. Currently, the application of the stimulus does not guarantee a desired response in relation to the intended excitation, since the technique applied to the muscle is characteristic of a system that is non-linear in nature. For this, step applications and pseudo-random binary signals (PRBS) were used to identify Autoregressive Model with Exogenous inputs (ARX) models. The integration between OpenSim© and MATLAB© software was also explored for the visualization of a three-dimensional model of a human leg under the chosen conditions. The answers were obtained through the application of RST controllers, designed by allocation of auxiliary poles, acting separately, where each controller acts independently, and with both acting simultaneously. Finally, in order to identify a region of stability of the controllers, movement for hip flexion above 38° was explored, where unstable regions were reached.