Modular hybrid functional electrical stimulation system

T. Yukawa, M. Khalid, Masaru Uchiyama, H. Inooka, T. Ohashi, G. Obinata, H. Kagaya, Y. Shimada

    研究成果: Conference article査読


    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 221996 4月 28

    ASJC Scopus subject areas

    • ソフトウェア
    • 制御およびシステム工学
    • 人工知能
    • 電子工学および電気工学


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