Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control
Joint Authors
Sugi, Yoshihiro
Watanabe, Takashi
Source
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-06-20
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Feedforward controller would be useful for hybrid Functional Electrical Stimulation (FES) system using powered orthotic devices.
In this paper, Feedback Error Learning (FEL) controller for FES (FEL-FES controller) was examined using an inverse statics model (ISM) with an inverse dynamics model (IDM) to realize a feedforward FES controller.
For FES application, the ISM was tested in learning off line using training data obtained by PID control of very slow movements.
Computer simulation tests in controlling wrist joint movements showed that the ISM performed properly in positioning task and that IDM learning was improved by using the ISM showing increase of output power ratio of the feedforward controller.
The simple ISM learning method and the FEL-FES controller using the ISM would be useful in controlling the musculoskeletal system that has nonlinear characteristics to electrical stimulation and therefore is expected to be useful in applying to hybrid FES system using powered orthotic device.
American Psychological Association (APA)
Watanabe, Takashi& Sugi, Yoshihiro. 2010. Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control. Journal of Robotics،Vol. 2010, no. 2010, pp.1-11.
https://search.emarefa.net/detail/BIM-507197
Modern Language Association (MLA)
Watanabe, Takashi& Sugi, Yoshihiro. Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control. Journal of Robotics No. 2010 (2010), pp.1-11.
https://search.emarefa.net/detail/BIM-507197
American Medical Association (AMA)
Watanabe, Takashi& Sugi, Yoshihiro. Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control. Journal of Robotics. 2010. Vol. 2010, no. 2010, pp.1-11.
https://search.emarefa.net/detail/BIM-507197
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-507197