Bilateral Control of Human Upper Limbs Using Functional Electrical Stimulation Based on Dynamic Model Approximation

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: 2021/07/01

タイトル(英語): Bilateral Control of Human Upper Limbs Using Functional Electrical Stimulation Based on Dynamic Model Approximation

著者名: Tomoya Kitamura (Graduate School of Science and Engineering, Saitama University), Sho Sakaino (Faculty of Engineering, Information and Systems, University of Tsukuba), Masayuki Hara (Graduate School of Science and Engineering, Saitama University), Toshiak

著者名(英語): Tomoya Kitamura (Graduate School of Science and Engineering, Saitama University), Sho Sakaino (Faculty of Engineering, Information and Systems, University of Tsukuba), Masayuki Hara (Graduate School of Science and Engineering, Saitama University), Toshiaki Tsuji (Graduate School of Science and Engineering, Saitama University)

キーワード: bilateral control，dexterous manipulators，functional electrical stimulation (FES)，modeling，reaction torque observer (RTOB)，teleoperation

要約(英語): Bilateral control is a remote-control technique that can transmit the reaction force received by a slave as feedback to its master. However, it poses several problems; hence, bilateral control using functional electrical stimulation (FES) has been proposed as a solution. Generally, in bilateral control, position synchronization and establishing the force action-reaction are considered the control targets for an acceptable force sense transmission. In this study, bilateral control using FES based on a dynamic model is proposed to achieve position synchronization and force action-reaction. The approximation of the relationship between the stimulus value and the exerted torque by the dynamic model is expected to simplify the creation of inverse models and improve the force control performance. The results obtained through comparison with other methods indicated that the proposed method reduced the angle and torque tracking errors between the master and slave. The results also revealed that the proposed bilateral control system achieved highly accurate position synchronization and force action-reaction in bilateral control using FES.

本誌: IEEJ Journal of Industry Applications Vol.10 No.4 （2021）

本誌掲載ページ: 443-456 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/10/4/10_20009551/_article/-char/ja/