Figure 1.

Schematic representation of Evoked Electromyographically Controlled Electrical Stimulation. Muscle activation is explicitly modeled as an intermediate variable between the stimulation input and the mechanical torque output. Muscle activation is obtained through evoked Electromyography under FES. Personalized modeling is performed for one block of muscular excitation process between stimulation and eEMG, and also for the other block of contraction process between eEMG and joint torque. Through the established models, the inversed solutions of stimulation input sequence could be systematically generated with model-predictive controllers to follow the desired mechanical output reference.