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

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2021/03/01

タイトル(英語): High-Precision Control for Functional Electrical Stimulation Utilizing a High-Resolution Encoder

著者名: Sho Sakaino (Faculty of Engineering, Information and Systems, Department of Intelligent Interaction Technologies, University of Tsukuba/JST, PRESTO), Tomoya Kitamura (Graduate School of Science and Engineering, Saitama University), Naoto Mizukami (Graduat

著者名(英語): Sho Sakaino (Faculty of Engineering, Information and Systems, Department of Intelligent Interaction Technologies, University of Tsukuba/JST, PRESTO), Tomoya Kitamura (Graduate School of Science and Engineering, Saitama University), Naoto Mizukami (Graduat

キーワード: functional electrical stimulation，high-resolution encoder，full state feedback control，position control

要約(英語): 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.

本誌: IEEJ Journal of Industry Applications Vol.10 No.2 （2021） Special Issue Ⅰ on “Motion Control and its Related Technologies”　　Special Issue Ⅱ on “Advanced Power Electronics Technologies”

本誌掲載ページ: 124-133 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/10/2/10_20004260/_article/-char/ja/