A diagonal recurrent neural network based FES system for the knee joint position control

A diagonal recurrent neural network (DRNN) based functional electrical stimulation (FES) system was designed to control the knee joint to move in accordance with the desired trajectory of movement through stimulation of quadriceps muscle. This system, which consisted of a DRNN controller and a DRNN identifier, could learn the nonlinearity of the plant (knee joint) and control it both in on-line condition. The knee joint angle was controlled with only small deviations along the desired trajectory with the aid of the neural controller.