High-Precision Control for Functional Electrical Stimulation Utilizing a High-Resolution Encoder
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- Sakaino Sho
- Faculty of Engineering, Information and Systems, Department of Intelligent Interaction Technologies, University of Tsukuba JST, PRESTO
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- Kitamura Tomoya
- Graduate School of Science and Engineering, Saitama University
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- Mizukami Naoto
- Graduate School of Science and Engineering, Saitama University
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- Tsuji Toshiaki
- Graduate School of Science and Engineering, Saitama University
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抄録
<p>In functional electrical stimulation, the time delay between an input voltage and the corresponding muscle force is a significant issue. This study revealed that the joint angle/voltage relationship can be modeled as a fourth-order system. This enables the inclusion of a time delay in the high-order phase delay of the force/voltage relationship, which may lead to delay recovery using a suitable controller. Accordingly, a full state feedback controller is proposed in this study, to recover the phase delays. Jerk measurement is mandatory for full state feedback controllers owing to the joint the fourth-order joint angle/voltage relationship. This issue can be solved by the recent development of high-resolution encoders. Finally, the validity of the proposed method was verified experimentally.</p>
収録刊行物
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- IEEJ Journal of Industry Applications
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IEEJ Journal of Industry Applications 10 (2), 124-133, 2021-03-01
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