Repetitive Learning Control for Functional Electrical Stimulation Cycling with Antagonistic Biarticular Muscle
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- Kawai Hiroyuki
- Department of Robotics, Kanazawa Institute of Technology
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- Nagumo Masahiro
- Department of Robotics, Kanazawa Institute of Technology
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- Kushima Yoshihiro
- International College of Technology
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- Murao Toshiyuki
- Department of Robotics, Kanazawa Institute of Technology
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- Kawai Yasunori
- National Institute of Technology, Ishikawa College
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- Kishitani Miyako
- Saiseikai Kanazawa Hospital
Bibliographic Information
- Other Title
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- 繰り返し学習制御と機能的電気刺激によるペダリング運動
Abstract
<p>This paper deals with repetitive learning control for functional electrical stimulation (FES) pedaling exploiting pedal force direction with antagonistic biarticular muscles . FES pedaling motion with muscle contraction is expressed as an Euler Lagrange system. Asymptotic tracking for the closed-loop system by the proposed controller is analyzed through Lyapunov-based methods. Experiments were conducted in three healthy individuals to show the validity of the proposed method from a practical point of view.</p>
Journal
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- Transactions of the Institute of Systems, Control and Information Engineers
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Transactions of the Institute of Systems, Control and Information Engineers 36 (2), 48-54, 2023-02-15
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
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Details 詳細情報について
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- CRID
- 1390014648121451136
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- ISSN
- 2185811X
- 13425668
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
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- Abstract License Flag
- Disallowed