Functional electrical stimulation (FES) is a well established technique for the rehabilitation of neurological patients. In this study we proposed a controller, called Error Mapping Controller (EMC), for the neuromuscular stimulation of the quadriceps during the knee flex—extension movement. The EMC is composed by a feedforward inverse model and a feedback controller, both implemented using neural networks. The training of the networks is conceived to avoid to a therapist and a patient any extra experiment, being the collection of the training set included in the normal conditioning exercises. The EMC philosophy differs from classical feedback controllers because it does not merely react to the error in tracking the desired trajectory, but it estimates also the actual level of fatigue of the muscles. The controller was first developed and tested in simulation using a neuro—musculo—skeletal model and then in some experimental sessions on an untrained paraplegic patient.
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Ferrante, S., Pedrocchi, A., Ferrigno, G. (2008). A Closed Loop Neural Scheme to Control Knee Flex-Extension Induced by Functional Electrical Stimulation: Simulation Study and Experimental Test on a Paraplegic Subject. In: Prasad, B., Prasanna, S.R.M. (eds) Speech, Audio, Image and Biomedical Signal Processing using Neural Networks. Studies in Computational Intelligence, vol 83. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75398-8_18
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