| Presentation | 2000/11/23 A study on multichannel feedback FES control of the wrist joint K Iibuchi, T Watanabe, K Kurosawa, S Ohba, R Futami, N Hoshimiya, Y Handa, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The commercially available functional electrical stimulation(FES)system in Japan uses EMG-based stimulation data for determining stimulus intensities. This method can solve the ill-posed problem caused by the redundancy in the input-output relationship of the musculoskeletal system. However, this open-loop control is affected by muscle fatigue, disturbance and so on. On the other hand, the closed-loop control is effective in removing those problems, although it is difficult to determine stimulus intensities to each muscle because of the ill-posed problem. In this study, we used the generalized inverse of the Jacobian matrix of the musculoskeletal system and the CHR(Chien, Hrones and Reswick)method in order to determine parameters of the PID controller. The experimental results with normal subjects showed that the proposed feedback controller could control the wrist joint angles with good performance in tracking taska. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | FES / feedback control / ill-posed problem / Jacobian matrix / PID control / CHR method |
| Paper # | MBE2000-100 |
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| Conference Information | |
| Committee | MBE |
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| Conference Date | 2000/11/23(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
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| Paper Information | |
| Registration To | ME and Bio Cybernetics (MBE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | A study on multichannel feedback FES control of the wrist joint |
| Sub Title (in English) | |
| Keyword(1) | FES |
| Keyword(2) | feedback control |
| Keyword(3) | ill-posed problem |
| Keyword(4) | Jacobian matrix |
| Keyword(5) | PID control |
| Keyword(6) | CHR method |
| 1st Author's Name | K Iibuchi |
| 1st Author's Affiliation | Graduate School of Engineering, Tohoku University() |
| 2nd Author's Name | T Watanabe |
| 2nd Author's Affiliation | Graduate School of Engineering, Tohoku University |
| 3rd Author's Name | K Kurosawa |
| 3rd Author's Affiliation | Graduate School of Engineering, Tohoku University |
| 4th Author's Name | S Ohba |
| 4th Author's Affiliation | Graduate School of Engineering, Tohoku University |
| 5th Author's Name | R Futami |
| 5th Author's Affiliation | Graduate School of Engineering, Tohoku University |
| 6th Author's Name | N Hoshimiya |
| 6th Author's Affiliation | Graduate School of Engineering, Tohoku University |
| 7th Author's Name | Y Handa |
| 7th Author's Affiliation | Tohoku University Graduate School of Medicine |
| Date | 2000/11/23 |
| Paper # | MBE2000-100 |
| Volume (vol) | vol.100 |
| Number (no) | 478 |
| Page | pp.pp.- |
| #Pages | 8 |
| Date of Issue | |