The purpose of this research was to propose and develop a control method in the robotic and biomedical fields which is configured by a robotic/biological simulator, an analytical control frame which has phase sequences, sensory feedback, and an artificial central pattern generator (CPG) which is constructed by a recurrent neural network (RNN) and a genetic algorithm (GA). We call such a controller a "HOJO-brain," which means a supplementary brain for motion control. We applied this method in the robotic and biomedical fields. In the robotic field, the HOJO-brain was applied to a 5-DOF legged-locomotion robot and a 32-DOF humanoid simulation model consisting of antagonistic muscles. In the biomedical field, it was applied to animals as the FES (functional electrical stimulation) controller. This FES control system with a HOJO-brain has the potential to give more effective and emergent motion control to severely physically handicapped people such as quadraplegics. With computer simulations and simple experiments using animals, we abtained performance indices which confirmed the fine adaptability and emergence for motion control.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.