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Modeling and identification of electrically stimulated muscles for wrist movement

Modeling and identification of electrically stimulated muscles for wrist movement
Modeling and identification of electrically stimulated muscles for wrist movement

The modeling of electrically stimulated muscles is of great importance for the tremor suppression via functional electrical stimulation (FES) approach. In this paper, with fully consideration of the characteristics of wrist muscles, a four input two output wrist muscle model with Hammerstein structure is proposed, by which the four-channel functional electrical stimulation signals can simultaneously stimulate the wrist muscles of flexor carpi radialis (FCR), extensor carpi radialis (ECR), flexor carpi ulnaris (FCU) and extensor carpi ulnaris (ECU) to realize 2 degrees of freedom (DOF) wrist movements. Then, we use the recursive least squares identification algorithm to identify the parameters of the pre-existing four input and one output system. Simulation results show that the least recursive squares identification algorithm of two-step method is advantageous in convergence and identification accuracy.

1823-1828
IEEE
Zhang, Zan
f21d5078-b218-40f1-91b6-dc0a06104522
Liu, Yanhong
c4b4a3da-3e3b-4cd0-8d54-2c3e40cfa4ea
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f
Zhang, Zan
f21d5078-b218-40f1-91b6-dc0a06104522
Liu, Yanhong
c4b4a3da-3e3b-4cd0-8d54-2c3e40cfa4ea
Chu, Bing
555a86a5-0198-4242-8525-3492349d4f0f

Zhang, Zan, Liu, Yanhong and Chu, Bing (2018) Modeling and identification of electrically stimulated muscles for wrist movement. In 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018. IEEE. pp. 1823-1828 . (doi:10.1109/ICARCV.2018.8581166).

Record type: Conference or Workshop Item (Paper)

Abstract

The modeling of electrically stimulated muscles is of great importance for the tremor suppression via functional electrical stimulation (FES) approach. In this paper, with fully consideration of the characteristics of wrist muscles, a four input two output wrist muscle model with Hammerstein structure is proposed, by which the four-channel functional electrical stimulation signals can simultaneously stimulate the wrist muscles of flexor carpi radialis (FCR), extensor carpi radialis (ECR), flexor carpi ulnaris (FCU) and extensor carpi ulnaris (ECU) to realize 2 degrees of freedom (DOF) wrist movements. Then, we use the recursive least squares identification algorithm to identify the parameters of the pre-existing four input and one output system. Simulation results show that the least recursive squares identification algorithm of two-step method is advantageous in convergence and identification accuracy.

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More information

Published date: 18 December 2018
Venue - Dates: 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018, Singapore, Singapore, 2018-11-18 - 2018-11-21

Identifiers

Local EPrints ID: 428763
URI: http://eprints.soton.ac.uk/id/eprint/428763
PURE UUID: c5159ce0-27ae-4978-88b7-2fa74a335b16
ORCID for Bing Chu: ORCID iD orcid.org/0000-0002-2711-8717

Catalogue record

Date deposited: 08 Mar 2019 17:30
Last modified: 17 Dec 2019 01:38

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Contributors

Author: Zan Zhang
Author: Yanhong Liu
Author: Bing Chu ORCID iD

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