An Approach to Applying Feedback Error Learning for Functional Electrical Stimulation Controller: Computer Simulation Tests of Wrist Joint Control
An Approach to Applying Feedback Error Learning for Functional Electrical Stimulation Controller: Computer Simulation Tests of Wrist Joint Control
复制标题
将反馈误差学习应用于功能性电刺激控制器的方法：腕关节控制的计算机模拟测试
DOI：
10.1155/2010/814702
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
K. Fukushima
中科院分区：
文献类型：
--
作者：
Takashi Watanabe;K. Fukushima
由比例积分微分 (PID) 控制器和人工神经网络 (ANN) 组成的反馈误差学习 (FEL) 控制器适用于功能性电刺激 (FES)。然而，由于积分（重置）饱和，反馈 FES 控制有时会出现延迟或超调，这被认为会导致不适当的 ANN 学习，并限制 FES 的 FEL 控制器控制刺激 2 块肌肉的 1-DOF 运动的可行性。在本文中，开发了一种应用基于总控制器输出的抗复位饱和（ARW）方案的 FELFES 控制器。通过计算机模拟，对带有 ARW 的 FELFES 控制器控制刺激 4 块肌肉的腕关节 2-DOF 运动进行了检查。开发的 FEL-FES 控制器被发现可以适当地实现逆动态模型，并且有可能用作开环控制器。开发的控制器将有效地刺激多块肌肉的多自由度运动控制。
Feedback error-learning (FEL) controller that consists of a proportional-integral-derivative (PID) controller and an artificial neural network (ANN) had applicability to functional electrical stimulation (FES). Because of the integral (reset) windup, however, delay or overshoot sometimes occurred in feedback FES control, which was considered to cause inappropriate ANN learning and to limit the feasibility of the FEL controller for FES to controlling 1-DOF movements stimulating 2 muscles. In this paper, an FELFES controller was developed applying antireset windup (ARW) scheme that worked based on total controller output. The FELFES controller with the ARW was examined in controlling 2-DOF movements of the wrist joint stimulating 4 muscles through computer simulation. The developed FEL-FES controller was found to realize appropriately inverse dynamics model and to have a possibility of being used as an open-loop controller. The developed controller would be effective in multiple DOF movement control stimulating several muscles.
影响因子：
2.4
作者：
Lemay, MA;Crago, PE
通讯作者：
Crago, PE
影响因子：
--
作者：
F. Zajac
通讯作者：
F. Zajac