Combined feedforward and feedback control of a redundant, nonlinear, dynamic musculoskeletal system
作者： Dimitra Blana , Robert F. Kirsch , Edward K. Chadwick
DOI: 10.1007/S11517-009-0479-3
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摘要: A functional electrical stimulation controller is presented that uses a combination of feedforward and feedback for arm control in high-level injury. The generates the muscle activations nominally required desired movements, corrects errors caused by fatigue external disturbances. an artificial neural network (ANN) which approximates inverse dynamics arm. loop includes PID series with second ANN representing nonlinear properties biomechanical interactions muscles joints. was designed tested using two-joint musculoskeletal model four mono-articular two bi-articular muscles. Its performance during goal-oriented movements varying amplitudes durations showed tracking error less than 4° ideal conditions, 10° even case considerable
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