Implementing Feedback Error Learning for FES control

摘要

Walking assist using Functional Electrical Stimulation (FES) has been studied for a quite long time to help paraplegic persons overcome their walking impairment. One of the problems of these devices is how to cope with individual dependent, time-varying, and nonlinear user's characteristics and external disturbances. In this study, Feedback Error Learning (FEL), a scheme that integrates feedback and feedforward control, was applied to FES control. As a first step, an inverted-pendulum model was used to examine the usefulness of this scheme. Next, the control of a swinging motion, using a leg model simulation, was performed. After the verification in the simulation models, an FES experiment was to investigate the applicability of this system. The data obtained from the FES experiments were used to construct a new simulation model for investigating the effect of FES in different condition. The results showed that, usability of the FEL scheme for different FES control strategies.