Bilateral Control of Elbow and Shoulder Joints Using Functional Electrical Stimulation Between Human and Robot

カテゴリ: 部門大会

論文No: GS7-2

グループ名: 【C】2019年電気学会電子・情報・システム部門大会プログラム

発行日: 2019/08/28

タイトル(英語): Bilateral Control of Elbow and Shoulder Joints Using Functional Electrical Stimulation Between Human and Robot

著者名: Hasegawa Yuu(埼玉大学),Kitamura Tomoya(埼玉大学),Sakaino Sho(筑波大学/JSTさきがけ),Tsuji Toshiaki(埼玉大学)

著者名(英語): Yuu Hasegawa|Tomoya Kitamura|Sho Sakaino|Toshiaki Tsuji

キーワード: 機能的電気刺激|バイラテラル制御|肩|斜交座標制御|Functional Electrical Stimulation|Bilateral Control|Shoulder|Oblique Coordinate Control

要約(日本語): When humans operate robots by wearing an exoskeleton system, they may feel a sense of restraint due to the system. To overcome the issue, we are developing a system using functional electrical stimulation (FES), which is with less restraint. In this paper, we applied FES to bilateral control with two degree of freedom: the elbow joint and the scapulohumeral joint. As a result, we succeeded in wearing a character 'A' using the bilateral control with FES.

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