An Intermittent Control Strategy for Human Gait Control Based on Shank Movement Control Using Poincaré Section and Fuzzy Logic System

In this study, a new intermittent control strategy has been proposed for control of shank movement dynamics during the human gait. In the first step, three iterated sine-circle maps were identified in the three dimensional phase space, constructed by shank movement data recorded from the healthy subjects, using the Poincare technique. Then a fuzzy feedback controller was designed so that it is activated only when the value of shank angle as a state variable in the state space is significantly far from the points described by an identified sine-circle map. Thus, the intermittent controller is activated only for a short period of time during each gait stride.