Prof.
Toufik Bakir
University of Burgundy, France
Toufik Bakir received his Ph.D. degree in industrial
automatics from the University of Claude Bernard-Lyon I,
Lyon, France, in 2006. He was an associate professor at the
Le2i (Laboratory of electronics, computer science and image)
at the University of Burgundy (2007-2020). He became a full
professor since 2021 at ImViA (Image and Artificial Vision
laboratory) of the University of Burgundy. He is the head of
the computer science and electronics department since 2020.
His research interests include dynamic systems, system
modeling, optimization and control.
Speech Title: Functional Electrical Stimulation, from Modelling to Force Control
Abstract: Recent functional electrical stimulation (FES)
devices tend to use closed-loop control strategies to
control the force and/or the fatigue levels by tuning
parameters such as frequency, amplitude or pulse width of
the stimulation signal. In this talk, we will present two
ways to perform such control; the first one is based on
physical model (Ding et al. model) and the second one is
based on empirical model (locally valid model). In the case
of Ding et al. model, we performed an experimental study to
upgrade the model by including the effect of the stimulation
amplitude on the developed force level. The modified version
of the Ding et al. model is then used to estimate the
unmeasured state variables (which describe the system
dynamics) in order to control the force level using
different strategies (nonlinear input output linearization,
model predictive control, sliding mode, etc.). In the case
of empirical model, a local model is generated using
different ways (output filtering, model identification) in
order to control the force level using P, PI or PID
controller (combined with sliding mode strategy or optimized
using some heuristics). These different strategies are
compared in terms of calculation time and precision to
define the most adapted one for real time implementation.