Bilateral Control of Human Upper Limbs Using Functional Electrical Stimulation Based on Dynamic Model Approximation

Bilateral control is a remote-control technique that can transmit the reaction force received by slave as feedback to its master. However, it poses several problems; hence, bilateral using functional electrical stimulation (FES) has been proposed solution. Generally, in control, position synchronization and establishing action-reaction are considered targets for an acceptable sense transmission. In this study, FES based on dynamic model achieve action-reaction. The approximation of relationship between stimulus value exerted torque expected simplify creation inverse models improve performance. results obtained through comparison with other methods indicated method reduced angle tracking errors master slave. also revealed system achieved highly accurate FES.