FES-induced muscular torque prediction with evoked EMG synthesized by NARX-type recurrent neural network

Zhan Li, Mitsuhiro Hayashibe, Qin Zhang, David Guiraud

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

Functional electrical stimulation (FES) is able to restore motor function of spinal cord injured (SCI) patients. To make adaptive FES control taking into account the actual muscle state with muscular feedback information, torque estimation and prediction are important to be provided beforehand. Evoked EMG (eEMG) has been found to be highly correlated with FES-induced torque under various muscle conditions, indicating that it can be an useful tool for torque/force prediction. To better construct the relationship between eEMG and stimulated muscular torque, nonlinear-arx-type (NARX-type) model is preferred. This paper presents and exploits a NARX-type recurrent neural network (NARX-RNN) model for identification and prediction of FES-induced muscular dynamics with eEMG. Such NARX-RNN model is with a novel architecture for prediction, with robust prediction performance. To make fast convergence for identification of such NARX-RNN, directly-learning pattern is exploited during the learning phase. Due to difficulty of choosing a proper forgetting factor of Kalman filter for predicting time-variant torque with eEMG, such NARX-RNN may be considered to be a better alternative as torque predictor. Data gathered from two SCI patients is used to evaluate the proposed NARX-RNN model. The NARX-RNN model shows promising estimation and prediction performance only based on eEMG.

本文言語English
ホスト出版物のタイトル2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
ページ2198-2203
ページ数6
DOI
出版ステータスPublished - 2012
外部発表はい
イベント25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
継続期間: 2012 10 72012 10 12

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
国/地域Portugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

フィンガープリント

「FES-induced muscular torque prediction with evoked EMG synthesized by NARX-type recurrent neural network」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル