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

doi:10.1109/IECON51785.2023.10312623

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

Electric and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Computer Society
ISBN (Electronic)	9798350331820
DOIs	https://doi.org/10.1109/IECON51785.2023.10312623
State	Published - 2023
Event	49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 - Singapore, Singapore Duration: 2023/10/16 → 2023/10/19

Publication series

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

Conference

Conference	49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023
Country/Territory	Singapore
City	Singapore
Period	2023/10/16 → 2023/10/19

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

Access to Document

10.1109/IECON51785.2023.10312623

Cite this

Takata, Y., Kawai, H., Kushima, Y., Murao, T., Kawai, Y., Hirata, K., & Kishitani, M. (2023). FES-Assisted Standing-up Motion Control Incorporating Center of Mass Motion. In IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON51785.2023.10312623

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title = "FES-Assisted Standing-up Motion Control Incorporating Center of Mass Motion",

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.",

keywords = "Functional electrical stimulation (FES), Rehabilitation systems, Standing-up motion, Zeroing control barrier function",

author = "Yasunobu Takata and Hiroyuki Kawai and Yoshihiro Kushima and Toshiyuki Murao and Yasunori Kawai and Kenji Hirata and Miyako Kishitani",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 ; Conference date: 16-10-2023 Through 19-10-2023",

year = "2023",

doi = "10.1109/IECON51785.2023.10312623",

language = "英語",

series = "IECON Proceedings (Industrial Electronics Conference)",

publisher = "IEEE Computer Society",

booktitle = "IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society",

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Takata, Y, Kawai, H, Kushima, Y, Murao, T, Kawai, Y, Hirata, K & Kishitani, M 2023, FES-Assisted Standing-up Motion Control Incorporating Center of Mass Motion. in IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society. IECON Proceedings (Industrial Electronics Conference), IEEE Computer Society, 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023, Singapore, Singapore, 2023/10/16. https://doi.org/10.1109/IECON51785.2023.10312623

FES-Assisted Standing-up Motion Control Incorporating Center of Mass Motion. / Takata, Yasunobu; Kawai, Hiroyuki; Kushima, Yoshihiro et al.
IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society. IEEE Computer Society, 2023. (IECON Proceedings (Industrial Electronics Conference)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - FES-Assisted Standing-up Motion Control Incorporating Center of Mass Motion

AU - Takata, Yasunobu

AU - Kawai, Hiroyuki

AU - Kushima, Yoshihiro

AU - Murao, Toshiyuki

AU - Kawai, Yasunori

AU - Hirata, Kenji

AU - Kishitani, Miyako

PY - 2023

Y1 - 2023

N2 - 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.

AB - 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.

KW - Functional electrical stimulation (FES)

KW - Rehabilitation systems

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

Abstract

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Keywords

ASJC Scopus subject areas

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