Abstract
Walking assist using Functional Electrical Stimulation (FES) has been studied for a quite long time to help paraplegic persons overcome their walking impairment. One of the problems of these devices is how to cope with individual dependent, time-varying, and nonlinear user characteristics and external disturbances. In this study, Feedback Error Learning (FEL), a scheme that integrates feedback and feed-forward control, was applied to FES control. In this study, a FES experiment to human subjects was done to investigate the applicability of this system. The data obtained from the FES experiments were used to construct a new simulation model for further investigating the effect of FES in different condition. The results showed the usability of the FEL scheme for different FES control strategies.
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