@inproceedings{31dc4413dd644dcfb0cc2ed5cc0d07b9,
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",
}