Adaptive Neural Network Control of FES Cycling

FES cycling is a safe and easy way for the rehabilitation of spinal cord injury (SCI) patients. In order to design an control system for FES cycling, this paper presents a control strategy of the cycling induced by FES. The control system is developed based on artificial neural networks and consists of two layers: the outer layer controls the FES cycling model dynamics and generates desired torque; the inner layer controls multi-muscle to generate the torque that tracks the desired torque. And the distribution of multi-channel FES stimulation intensities is optimized based on the energy and muscle fatigue minimization principles. The simulation results show that the control system designed in this paper is stable and robust to muscle fatigue. Finally, some remarks are given on the clinical experiments of this control strategy.