Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control
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)...
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| Format: | Article |
| Language: | English |
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Wiley
2010-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2010/908132 |
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| author | Takashi Watanabe Yoshihiro Sugi |
| author_facet | Takashi Watanabe Yoshihiro Sugi |
| author_sort | Takashi Watanabe |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-ee23452ca73a4f37a992846180bcc0b2 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2010-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-ee23452ca73a4f37a992846180bcc0b22025-02-03T01:20:24ZengWileyJournal of Robotics1687-96001687-96192010-01-01201010.1155/2010/908132908132Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint ControlTakashi Watanabe0Yoshihiro Sugi1Department of Biomedical Engineering, Graduate School of Biomedical Engineering, Tohoku University, Sendai 980-8579, JapanDepartment of Electrical and Communication Engineering, Graduate School of Engineering, Tohoku University, Sendai 980-8579, JapanFeedforward 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.http://dx.doi.org/10.1155/2010/908132 |
| spellingShingle | Takashi Watanabe Yoshihiro Sugi Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control Journal of Robotics |
| title | Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control |
| title_full | Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control |
| title_fullStr | Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control |
| title_full_unstemmed | Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control |
| title_short | Computer Simulation Tests of Feedback Error Learning Controller with IDM and ISM for Functional Electrical Stimulation in Wrist Joint Control |
| title_sort | computer simulation tests of feedback error learning controller with idm and ism for functional electrical stimulation in wrist joint control |
| url | http://dx.doi.org/10.1155/2010/908132 |
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