RISE制御によるFES下肢交互屈伸トライクシステムの構築と実験的検証

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2020/02/01

タイトル(英語): Development of a FES Knee Bending and Stretching Trike System with RISE-based Control and Its Experimental Verification

著者名: 久島　康嘉（金沢工業大学大学院工学研究科），河合　宏之（金沢工業大学工学部），村尾　俊幸（金沢工業大学工学部），河合　康典（石川工業高等専門学校電気工学科），岸谷　都（石川県済生会金沢病院リハビリテーション科），鈴木　亮一（金沢工業大学工学部）

著者名(英語): Yoshihiro Kushima (Graduate Program in Mechanical Engineering,Kanazawa Institute of Technology), Hiroyuki Kawai (College of Engineering,Kanazawa Institute of Technology), Toshiyuki Murao (College of Engineering,Kanazawa Institute of Technology), Yasunori Kawai (Department of Electrical Engineering,Ishikawa National College of Technology), Miyako Kishitani (Saiseikai Kanazawa Hospital), Ryoichi Suzuki (College of Engineering,Kanazawa Institute of Technology)

キーワード: 機能的電気刺激，交互屈伸運動，FESバイク，リハビリテーションシステム，RISE制御　　Functional electrical stimulation (FES)，alternate knee bending and stretching，FES bike，rehabilitation system，RISE-based control

要約(英語): The aim of functional electrical stimulation (FES) is restoring a disabled patient's upper motor neuron by directly applying electrical currents to the paralyzed muscles. This paper considers a FES alternate knee bending and stretching trike system with RISE-based control for rehabilitation. The alternate knee bending and stretching mechanism and a rider with two muscle groups (Quadriceps, Hamstrings) are modeled as an Euler Lagrange system based on knee bending and stretching force direction. A chain and pulley gear mechanism and a linear motion conversion mechanism are loaded on a recumbent trike to keep disabled patient's motivation for rehabilitation and to use as transportation. The chain and pulley gear mechanism achieves alternate knee bending and stretching motion, and the linear motion conversion mechanism achieves converting linear motion to rotary motion. Experimental results in healthy participants are shown to confirm the validity of the proposed system and the potential of use as transportation.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.140 No.2 （2020）　特集：エネルギーデータを対象としたIoT，AI活用技術

本誌掲載ページ: 227-234 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/140/2/140_227/_article/-char/ja/