A Computer Simulation Study on Movement Control by Functional Electrical Stimulation Using Optimal Control Technique with Simplified Parameter Estimation

The purpose of this study was to develop a practical functional electrical stimulation (FES) controller for joint movements restoration based on an optimal control technique by cascading linear model predictive (MPC) and nonlinear transformation. configuration aimed obtain FES that is able deal with system. transformation utilized transform the solution MPC become in form optimized intensity. Four different types functions were used realize A simple parameter estimation determine value also developed. tracking capability proposed along examined controlling 1-DOF wrist movement through computer simulation. compared fuzzy controller. MPC-FES estimated worked properly had better accuracy than suggested be useful effective applications reduce time-consuming determining