A Computer Simulation Test for Validation of Linear Model Predictive Control with Nonlinear Transformation for FES in Wrist Joint Control

Functional Electrical Stimulation (FES) can be effectively utilized to restore a paralyzed motor function. The purpose of this paper is to examine the developed FES controller based on a linear Model Predictive Control (MPC) using an average subject model and a simple nonlinear transformation for FES. The configuration of the proposed controller was aimed to make a simple design procedure with fewer parameters adjustments than the general method, thus reducing the time-consuming at the initial setup for practical application. The controller was tested in controlling the 1-DOF movement of the wrist joint (palmar flexion) by stimulating flexor carpi radialis (FCR) through computer simulation. The computer simulation test showed that the proposed controller worked well and was able to track the target movement trajectory with a small tracking error. An average model in MPC and a simple nonlinear transformation were suggested to be useful for FES application.