FES-Assisted Standing-up Motion Control Incorporating Center of Mass Motion

Yasunobu Takata, Hiroyuki Kawai, Yoshihiro Kushima, Toshiyuki Murao, Yasunori Kawai, Kenji Hirata, Miyako Kishitani

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper considers an FES-supported standing-up control system that incorporates the center of mass (COM) motion for rehabilitation of patients with neurological disabilities. The COM motion is controlled by electrical current input which is delivered through the upper limbs and adjusted according to the velocity of the COM motion. The upper limbs should be given as minimum input as possible to reduce the strain on users since control input is also delivered to the lower limbs to activate the standing-up motion. Therefore, the proposed controller does not send the input current to the upper limbs when the tracking error is small by using zeroing control barrier function (ZCBF). Experimental results are presented to validate the effectiveness of the proposed method in comparison to the previous method.

Original languageEnglish
Title of host publicationIECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE Computer Society
ISBN (Electronic)9798350331820
DOIs
StatePublished - 2023
Event49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 - Singapore, Singapore
Duration: 2023/10/162023/10/19

Publication series

NameIECON Proceedings (Industrial Electronics Conference)
ISSN (Print)2162-4704
ISSN (Electronic)2577-1647

Conference

Conference49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023
Country/TerritorySingapore
CitySingapore
Period2023/10/162023/10/19

Keywords

  • Functional electrical stimulation (FES)
  • Rehabilitation systems
  • Standing-up motion
  • Zeroing control barrier function

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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