Modelling of joint properties of lower limbs in people with spinal cord injury is significantly challenging for researchers due to the complexity of the system. The objective of this study is to develop a knee joint model capable of relating electrical parameters to dynamic joint torque as well as knee angle for functional electrical stimulation application. The joint model consists of a segmental dynamic, time-invariant passive properties and uncertain time-variant active properties. The knee joint model structure comprising optimised equations of motion and fuzzy models to represent the passive viscoelasticity and active muscle properties is formulated. The model thus formulated is optimised using genetic optimization, and validated against experimental data. The developed model can be used for simulation of joint movements as well as for control development. The results show that the model developed gives an accurate dynamic characterisation of the knee joint.

中文翻译：

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基于遗传算法的膝关节模糊建模

由于系统的复杂性，对脊髓损伤患者的下肢关节特性进行建模对于研究人员而言是极具挑战性的。这项研究的目的是开发一种能够将电气参数与动态关节扭矩以及膝关节角度相关联的膝关节模型，以用于功能性电刺激应用。联合模型由分段动态，时不变的被动特性和不确定的时变主动特性组成。制定了包括优化运动方程和模糊模型的膝关节模型结构，以表示被动粘弹性和主动肌肉特性。使用遗传优化对由此公式化的模型进行优化，并针对实验数据进行验证。开发的模型可用于模拟关节运动以及控制开发。结果表明，开发的模型给出了膝关节的准确动态特征。