Rule-based control for FES using firmware transitional logic

A control methodology for functional electrical stimulation (FES) is introduced. It integrates aspects of finite-state-machine theory and the artificial-intelligence techniques of decision-rule derivation by induction with an implementation based on the methods of firmware transitional logic (FTL). This system represents an advance over previous rule-based FES control systems, which used hand-crafted rules. The theory underlying the methodology is presented with an example demonstrating rule derivation from a large collection of examples. Possible implementation in FTL is discussed together with the benefits of this control system to FES, which include exhaustive predictability, high operating speed, and constructional compactness.<>