Regulation of Induced Movement using Back Stepping Control

The paper presented an evaluation using the Back Stepping control (BSC) for the regulation of Functional Electrical Stimulation (FES) aided sit-to-stand (STS) motion restoration by investigating the effect of human mass distribution across the world. The study focused on eradicating or reducing to the minimum the tasks of changing the control system parameters when applying the device for different subjects. The comparison was made with the Proportional Integral Derivative (PID) based gain scheduling based control approach. Results do indicate the robustness of the BSC control method as it portrays that despite the alteration of the masses to the extremes the control system was able to keep the tracking error approaching zero or very close to the desired with and without changes. It outperformed the PID based gain scheduling control scheme. It also operates within the permissible limits specified. Hence, it reveals the effectiveness of the BSC scheme for solving the problem of continuous readjustments making the equipment universal. It, therefore, relieve the burden of the necessity of changing the control variables continuously. The study is novel because the BSC has never been evaluated on four segments based induced STS movement in paraplegia model. The universal human mass distribution has also not been considered using the control scheme on the model