Fuzzy logic control of ankle movement using multi-electrode intraspinal microstimulation.

In this paper, we propose a fuzzy logic control (FLC) for control of ankle movement using multi-electrode intraspinal microstimulation (ISMS). It has been demonstrated that ISMS via multi-electrode implanted into a given motor pool has several advantages over the single-electrode ISMS. In the current study, we investigate the closed-loop control of ankle movement using multi-electrode ISMS. For this purpose, a pair of electrodes was implanted into the each motor pool of dorsiflexor and plantar flexor muscles in the spinal cord. For each muscle, an independent FLC was designed. The response of neuromuscular system has a time-delay with respect to the input stimulation. To compensate the effect of time-delay, the future value of desired response was considered as the input of the FLC as well as the error signal. The results of experiments on animals show that the proposed control framework can provide a good tracking performance.