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Functional Neuromuscular Stimulation for articular angle control with an Inverse Dynamics Model tuned by a neural
Naoki Yoshida1, Yutaka Tomita, Satoshi Honda
1College of Medical Technology, Hokkaido University, Kita 12, Nishi 5, Kita-ku, Sapporo, 060-0812, Japan. ysd@mmm-keio.net
Abstract:
A Functional Neuromuscular Stimulation (FNS) system was developed to restore the motor function of people with central nervous system disorders. An FNS articular angle control system with an Inverse Dynamics Model (IDM) tuned by a neural network was proposed. The system was designed to control the elbow joint angles by learning the characteristics of the neuromuscular system of controlled limbs. Three kinds of control schemes using the IDM were proposed. In a simulation experiment, the system was able to learn the abnormal characteristics of a limb and any changes in these characteristics, and then allow for better control of the limb. The results of experiments using human participants showed that the system had ability to control both normal and paralysed limbs.