TY - GEN
T1 - Development of FES Upper and Lower Limbs Interlocking Motion Control System to Induce Periodic Rhythm
AU - Nakabayashi, Riku
AU - Kawai, Hiroyuki
AU - Kushima, Yoshihiro
AU - Murao, Toshiyuki
AU - Hirata, Kenji
AU - Kishitani, Miyako
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - This paper proposes an FES upper and lower limbs interlocking motion control system to induce periodic rhythm for rehabilitation of the interlocking rhythms of upper and lower limbs during exercise, such as walking. This system, which consists of the human body and the proposed mechanism, can be regarded as a closed chain mechanism with a six-link and five-joint system. In particular, input force is modeled by considering the monoarticular and biarticular muscle groups as actuators. Because the effective muscle force values are very different, inputs of upper and lower limbs are modeled respectively. The control objective can be achieved by RISE control for the FES upper and lower limbs interlocking motion control system.
AB - This paper proposes an FES upper and lower limbs interlocking motion control system to induce periodic rhythm for rehabilitation of the interlocking rhythms of upper and lower limbs during exercise, such as walking. This system, which consists of the human body and the proposed mechanism, can be regarded as a closed chain mechanism with a six-link and five-joint system. In particular, input force is modeled by considering the monoarticular and biarticular muscle groups as actuators. Because the effective muscle force values are very different, inputs of upper and lower limbs are modeled respectively. The control objective can be achieved by RISE control for the FES upper and lower limbs interlocking motion control system.
KW - Functional electrical stimulation (FES)
KW - Interlocking upper and lower limbs
KW - Rehabilitation systems
KW - RISE control
UR - https://www.scopus.com/pages/publications/105000993210
U2 - 10.1109/IECON55916.2024.10905793
DO - 10.1109/IECON55916.2024.10905793
M3 - 会議への寄与
AN - SCOPUS:105000993210
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society, Proceedings
PB - IEEE Computer Society
T2 - 50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024
Y2 - 3 November 2024 through 6 November 2024
ER -