title: Human-FES Cooperative Control for Wrist Movement: A Preliminary Study.
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.
authors.affiliation: State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China.
authors.forename: Kai
authors.initials: K
authors.lastname: Gui
authors.affiliation: Faculty of Informatics and Engineering at the University of Electro-Communications , Tokyo, Japan.
authors.forename: Hiroshi
authors.initials: H
authors.lastname: Yokoi
authors.affiliation: State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University , Shanghai, China.
authors.forename: Dingguo
authors.initials: D
authors.lastname: Zhang
keywords: artifacts removal; cooperative control; functional electrical stimulation; impedance control