Tracking Control for FES Alternate Knee Bending and Stretching Trike With Electric Motor Assistance

Masaya Ishikawa; Hiroyuki Kawai; Yoshihiro Kushima; Toshiyuki Murao; Kenji Hirata; Miyako Kishitani

doi:10.1016/j.ifacol.2023.10.1526

Tracking Control for FES Alternate Knee Bending and Stretching Trike With Electric Motor Assistance

Masaya Ishikawa^*, Hiroyuki Kawai^*, Yoshihiro Kushima, Toshiyuki Murao^*, Kenji Hirata, Miyako Kishitani

^*Corresponding author for this work

Electric and Electronic Engineering

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

1 Scopus citations

Abstract

This paper deals with a new control method for functional electrical stimulation (FES) alternate knee bending and stretching trike with electric motor assistance. While FES-cycling is known as a beneficial exercise for people with movement disorders, a paraplegia patient could not pedal smoothly by applying the previous method. One of the possible reasons is that there is a dead point in the pedaling motion intrinsically. To overcome this drawback, we developed a trike system which can be moved by alternating knee bending and stretching of the left and right legs for paraplegia patients. Electric motor assistance plays an important role to recover deceleration of the trike when switching between flexion and extension. Stability of the developed control law is analyzed through Lyapunov-based methods.

Original language	English
Title of host publication	IFAC-PapersOnLine
Editors	Hideaki Ishii, Yoshio Ebihara, Jun-ichi Imura, Masaki Yamakita
Publisher	Elsevier B.V.
Pages	3636-3641
Number of pages	6
Edition	2
ISBN (Electronic)	9781713872344
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.1526
State	Published - 2023/07/01
Event	22nd IFAC World Congress - Yokohama, Japan Duration: 2023/07/09 → 2023/07/14

Publication series

Name	IFAC-PapersOnLine
Number	2
Volume	56
ISSN (Electronic)	2405-8963

Conference

Conference	22nd IFAC World Congress
Country/Territory	Japan
City	Yokohama
Period	2023/07/09 → 2023/07/14

Keywords

Alternate knee bending and stretching trike
Electric motor assistance
Functional Electrical Stimulation (FES)
Lyapunov-stability

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1016/j.ifacol.2023.10.1526

Cite this

Ishikawa, M., Kawai, H., Kushima, Y., Murao, T., Hirata, K., & Kishitani, M. (2023). Tracking Control for FES Alternate Knee Bending and Stretching Trike With Electric Motor Assistance. In H. Ishii, Y. Ebihara, J. Imura, & M. Yamakita (Eds.), IFAC-PapersOnLine (2 ed., pp. 3636-3641). (IFAC-PapersOnLine; Vol. 56, No. 2). Elsevier B.V.. https://doi.org/10.1016/j.ifacol.2023.10.1526

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title = "Tracking Control for FES Alternate Knee Bending and Stretching Trike With Electric Motor Assistance",

abstract = "This paper deals with a new control method for functional electrical stimulation (FES) alternate knee bending and stretching trike with electric motor assistance. While FES-cycling is known as a beneficial exercise for people with movement disorders, a paraplegia patient could not pedal smoothly by applying the previous method. One of the possible reasons is that there is a dead point in the pedaling motion intrinsically. To overcome this drawback, we developed a trike system which can be moved by alternating knee bending and stretching of the left and right legs for paraplegia patients. Electric motor assistance plays an important role to recover deceleration of the trike when switching between flexion and extension. Stability of the developed control law is analyzed through Lyapunov-based methods.",

keywords = "Alternate knee bending and stretching trike, Electric motor assistance, Functional Electrical Stimulation (FES), Lyapunov-stability",

author = "Masaya Ishikawa and Hiroyuki Kawai and Yoshihiro Kushima and Toshiyuki Murao and Kenji Hirata and Miyako Kishitani",

note = "Publisher Copyright: Copyright {\textcopyright} 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/); 22nd IFAC World Congress ; Conference date: 09-07-2023 Through 14-07-2023",

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doi = "10.1016/j.ifacol.2023.10.1526",

language = "英語",

series = "IFAC-PapersOnLine",

publisher = "Elsevier B.V.",

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Ishikawa, M, Kawai, H, Kushima, Y, Murao, T, Hirata, K & Kishitani, M 2023, Tracking Control for FES Alternate Knee Bending and Stretching Trike With Electric Motor Assistance. in H Ishii, Y Ebihara, J Imura & M Yamakita (eds), IFAC-PapersOnLine. 2 edn, IFAC-PapersOnLine, no. 2, vol. 56, Elsevier B.V., pp. 3636-3641, 22nd IFAC World Congress, Yokohama, Japan, 2023/07/09. https://doi.org/10.1016/j.ifacol.2023.10.1526

Tracking Control for FES Alternate Knee Bending and Stretching Trike With Electric Motor Assistance. / Ishikawa, Masaya; Kawai, Hiroyuki; Kushima, Yoshihiro et al.
IFAC-PapersOnLine. ed. / Hideaki Ishii; Yoshio Ebihara; Jun-ichi Imura; Masaki Yamakita. 2. ed. Elsevier B.V., 2023. p. 3636-3641 (IFAC-PapersOnLine; Vol. 56, No. 2).

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

TY - GEN

T1 - Tracking Control for FES Alternate Knee Bending and Stretching Trike With Electric Motor Assistance

AU - Ishikawa, Masaya

AU - Kawai, Hiroyuki

AU - Kushima, Yoshihiro

AU - Murao, Toshiyuki

AU - Hirata, Kenji

AU - Kishitani, Miyako

PY - 2023/7/1

Y1 - 2023/7/1

N2 - This paper deals with a new control method for functional electrical stimulation (FES) alternate knee bending and stretching trike with electric motor assistance. While FES-cycling is known as a beneficial exercise for people with movement disorders, a paraplegia patient could not pedal smoothly by applying the previous method. One of the possible reasons is that there is a dead point in the pedaling motion intrinsically. To overcome this drawback, we developed a trike system which can be moved by alternating knee bending and stretching of the left and right legs for paraplegia patients. Electric motor assistance plays an important role to recover deceleration of the trike when switching between flexion and extension. Stability of the developed control law is analyzed through Lyapunov-based methods.

AB - This paper deals with a new control method for functional electrical stimulation (FES) alternate knee bending and stretching trike with electric motor assistance. While FES-cycling is known as a beneficial exercise for people with movement disorders, a paraplegia patient could not pedal smoothly by applying the previous method. One of the possible reasons is that there is a dead point in the pedaling motion intrinsically. To overcome this drawback, we developed a trike system which can be moved by alternating knee bending and stretching of the left and right legs for paraplegia patients. Electric motor assistance plays an important role to recover deceleration of the trike when switching between flexion and extension. Stability of the developed control law is analyzed through Lyapunov-based methods.

KW - Alternate knee bending and stretching trike

KW - Electric motor assistance

KW - Functional Electrical Stimulation (FES)

KW - Lyapunov-stability

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BT - IFAC-PapersOnLine

A2 - Ishii, Hideaki

A2 - Ebihara, Yoshio

A2 - Imura, Jun-ichi

A2 - Yamakita, Masaki

PB - Elsevier B.V.

T2 - 22nd IFAC World Congress

Y2 - 9 July 2023 through 14 July 2023

ER -

Tracking Control for FES Alternate Knee Bending and Stretching Trike With Electric Motor Assistance

Abstract

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Keywords

ASJC Scopus subject areas

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