An Approach to Applying Feedback Error Learning for Functional Electrical Stimulation Controller Computer Simulation Tests of Wrist Joint Control.pdfVIP

Hindawi Publishing Corporation Advances in Artificial Neural Systems Volume 2010, Article ID 814702, 8 pages doi:10.1155/2010/814702 Research Article An Approach to Applying Feedback Error Learning for Functional Electrical Stimulation Controller: Computer Simulation Tests of Wrist Joint Control Takashi Watanabe1 and Keisuke Fukushima2 1 Department of Biomedical Engineering, Graduate School of Biomedical Engineering, Tohoku University, 6-6-11-901-7 Aramaki-aza-Aoba, Aoba-ku, Sendai 980-8579, Japan 2 Department of Electrical and Communication Engineering, Graduate School of Engineering, Tohoku University, Sendai 980-8579, Japan Correspondence should be addressed to Takashi Watanabe, nabet@bme.tohoku.ac.jp Received 11 June 2010; Accepted 13 October 2010 Academic Editor: Yutaka Maeda Copyright © 2010 T. Watanabe and K. Fukushima. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 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 FEL- FES controller was developed applying antireset windup (ARW) scheme that worked based on total controller output. The FEL- FES controller with the ARW was examined in controlling 2-DOF movements of t