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Human-FES cooperative control for wrist movement: a preliminary study

Kai Gui, Hiroshi Yokoi, Dingguo Zhang
  • Kai Gui
    State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
  • Hiroshi Yokoi
    Faculty of Informatics and Engineering at the University of Electro-Communications, Tokyo, Japan
  • Dingguo Zhang
    State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China | dgzhang@sjtu.edu.cn

Abstract

Functional electrical stimulation (FES) sometimes applies to patients with partial paralysis, so human voluntary control and FES control both exist. Our study aims to build a cooperative controller to achieve human-FES cooperation. This cooperative controller is formed by a classical FES controller and an impedance controller. The FES controller consists of a back propagation (BP) neural network-based feedforward controller and a PID-based feedback controller. The function of impedance controller is to convert volitional force/torque, which is estimated from a three-stage filter based on EMG, into additional angle. The additional angle can reduce the FES intensity in our cooperative controller, comparing to that in classical FES controller. Some assessment experiments are designed to test the performance of the cooperative controller.

Keywords

Functional electrical stimulation; Artifacts removal; Impedance control; Cooperative control

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Submitted: 2016-07-15 13:03:17
Published: 2016-09-13 00:00:00
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Copyright (c) 2016 Kai Gui, Hiroshi Yokoi, Dingguo Zhang

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