Multi-Inertial Sensor-Based Arm 3D Motion Tracking Using Elman Neural Network

Figure 3

Structure of Elman neural network. In this structure, is the input vector and is the output vector; are the weights; is the unit vector in the middle layer and is the feedback state vector; are the deviation vector; is the transfer function of the hidden layer; and it is usually a tanh function while is the transfer function of the output layer, and it is usually a linear combination of the outputs of the middle layer.