Identification and compensation of systems with hysteresis such as functional electrical stimulation

Functional electrical stimulation (FES) is a medical technology that uses electrical currents to activate nerves innervating extremities affected by paralysis resulting from spinal cord injury (SCI), head injury, stroke and other neurological disorders. FES is used to restore function in people with disabilities. In many case, the electrical currents stimulate nerves through surface electrodes pasted on skins near the nerves. It is reported that strong nonlinearity such as hysteresis exists in FES system from electrical stimulations to joint angles. This paper proposes a new identification and compensation method for a nonlinear FES model from electrical stimulations to joint angle.