Biological Cybernetics

, Volume 96, Issue 1, pp 79–97 | Cite as

Modeling biological motor control for human locomotion with functional electrical stimulation

  • Dingguo ZhangEmail author
  • Kuanyi Zhu
Original Paper


This paper develops a novel control system for functional electrical stimulation (FES) locomotion, which aims to generate normal locomotion for paraplegics via FES. It explores the possibility of applying ideas from biology to engineering. The neural control mechanism of the biological motor system, the central pattern generator, has been adopted in the control system design. Some artificial control techniques such as neural network control, fuzzy logic, control and impedance control are incorporated to refine the control performance. Several types of sensory feedback are integrated to endow this control system with an adaptive ability. A musculoskeletal model with 7 segments and 18 muscles is constructed for the simulation study. Satisfactory simulation results are achieved under this FES control system, which indicates a promising technique for the potential application of FES locomotion in future.


Joint Angle Ground Reaction Force Radial Basis Function Neural Network Sensory Feedback Fuzzy Logic Controller 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag 2006

Authors and Affiliations

  1. 1.Biomedical Instrumentation Lab, S2.1-B4-02, School of Electrical and Electronic EngineeringNanyang Technological UniversitySingaporeSingapore

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