Gait control system for functional electrical stimulation using neural networks

1999 ◽  
Vol 37 (1) ◽  
pp. 35-41 ◽  
Author(s):  
K. Y. Tong ◽  
M. H. Granat
Keyword(s):  
Neural Networks ◽  
Electrical Stimulation ◽  
Control System ◽  
Functional Electrical Stimulation ◽  
Gait Control

A State Synchronization Controller for Functional Electrical Stimulation-Based Telerehabilitation

2014 ◽  
Author(s):  
Naji A. Alibeji ◽  
Nicholas A. Kirsch ◽  
Amit Sethi ◽  
Nitin Sharma
Keyword(s):  
Neural Networks ◽  
Electrical Stimulation ◽  
Stability Analysis ◽  
Functional Electrical Stimulation ◽  
Control Design ◽  
Tracking Performance ◽  
Communication Delays ◽  
Elbow Extension ◽  
Control Performance ◽  
Human Limb

A position-synchronization controller for functional electrical stimulation (FES)-based telerehabilitation was designed. The developed controller synchronizes an FES-driven human limb with a remote physical therapist’s manipulator despite constant bilateral communication delays. The control design overcomes a major stability analysis challenge: the unknown and unstructured nonlinearities in the FES-driven musculoskeletal dynamics. To address this challenge, the nonlinear muscle model was estimated through two neural networks with online update laws. A Lyapunov-based stability analysis was used to prove the globally uniformly ultimately bounded tracking performance. The control performance of the state synchronization controller is depicted using a simulation of an FES-elicited elbow extension that is remotely controlled by a manipulator.

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