High-Precision Control for Functional Electrical Stimulation Utilizing a High-Resolution Encoder

  • Sakaino Sho
    Faculty of Engineering, Information and Systems, Department of Intelligent Interaction Technologies, University of Tsukuba JST, PRESTO
  • Kitamura Tomoya
    Graduate School of Science and Engineering, Saitama University
  • Mizukami Naoto
    Graduate School of Science and Engineering, Saitama University
  • Tsuji Toshiaki
    Graduate School of Science and Engineering, Saitama University

この論文をさがす

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

被引用文献 (2)*注記

もっと見る

参考文献 (11)*注記

もっと見る

詳細情報 詳細情報について

問題の指摘

ページトップへ