We consider the design of a modular hybrid functional electrical stimulation (FES) system for an injured person. FES is one of the most advanced techniques in medical sciences in which paralyzed nerves and muscles are stimulated to re-realize the motion of the inactive parts. In this paper we propose a system using an assistant robot to follow an FES performance, as FES control has a lot of uncertainties in characteristics. The assistant robot used here is a 3-link serial type, and attached to the injured person to actively assist the FES performance. The assistant robot must be very simple, light, and slender, having some supply unit, silent actuators, and usually must be easily attached to the injured person. Instead of only FES we use a modular hybrid FES system, as it is very difficult for only FES capacity to support the injured person because of many physical uncertainties involved in a human body. For this purpose, we constitute various types of human models which can be used to reveal an action exactly, and make clear the characteristics of a muscle function. Furthermore, we also propose a control system for a model of the injured person with the assistant robot. Finally, we show that the robust performance of the injured person has been achieved in the standing motion using the modular hybrid FES system.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||Published - 1996 1月 1|
|イベント||Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA|
継続期間: 1996 4月 22 → 1996 4月 28
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