FES-assisted Cycling with Cadence Tracking Control for Lower Limb Rehabilitation

• Project/Area Number: 15K06156
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Control engineering/System engineering
• Research Institution: Kanazawa Institute of Technology
• Principal Investigator: Kawai Hiroyuki 金沢工業大学, 工学部, 准教授 (70410298)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000); Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2015: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
• Keywords: ペダリング運動 / 機能的電気刺激 / リハビリシステム / 速度制御 / ローイング運動

Outline of Final Research Achievements

This project has proposed a rehabilitation method for lower limb disorders. Specially, the cadence tracking control with functional electrical stimulation has been considered for rehabilitation of hemiparesis. From a theoretical point of view, the stability analysis of the proposed methods is given. Two rehabilitation systems are developed by combining a muscle stimulator with an aero bike or a recumbent trike. Experiments are carried out to confirm the validity of the proposed method in healthy participants and a hemiparesis patient who had a cerebral hemorrhage from a practical point of view.

Research Products

• [Journal Article] Closed-Loop Position and Cadence Tracking Control for FES-Cycling Exploiting Pedal Force Direction With Antagonistic Biarticular Muscles (2017)
  • Author(s): Hiroyuki Kawai, Matthew J. Bellman, Ryan J. Downey, Warren E. Dixon
  • Journal Title: IEEE Transactions on Control Systems Technology Volume: 印刷中 Issue: 2 Pages: 730-742
  • DOI: 10.1109/tcst.2017.2771727
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] 電気刺激を用いたリハビリシステムに関する研究 (2016)
  • Author(s): 河合宏之
  • Journal Title: 北陸経済研究 Volume: 441 Pages: 44-45
• [Journal Article] Comparing the Induced Muscle Fatigue Between Asynchronous and Synchronous Electrical Stimulation in Able-bodied and Spinal Cord Injured Populations (2015)
  • Author(s): R. J. Downey, M. J. Bellman, H. Kawai, C. M. Gregory, and W. E. Dixon
  • Journal Title: IEEE Transactions on Neural Systems and Rehabilitation Engineering Volume: 23-6 Issue: 6 Pages: 964-972
  • DOI: 10.1109/tnsre.2014.2364735
  • Peer Reviewed / Int'l Joint Research
• [Presentation] FES-assisted Cycling with Velocity Tracking Control for Hemiparesis Rehabilitation (2017)
  • Author(s): Y. Kushima, H. Kawai, T. Murao, Y. Kawai, M. Kishitani, R. Suzuki, and M. Fujita
  • Organizer: Proc. of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics
  • Int'l Joint Research
• [Presentation] Tele-Rehabilitation System for Human Lower Limb using Electrical Stimulation based on Bilateral Teleoperation (2017)
  • Author(s): Y. Kawai, K. Honda, H. Kawai, T. Miyoshi, and M. Fujita
  • Organizer: Proc. of the 2017 IEEE Conference on Control Technology and Applications
  • Int'l Joint Research
• [Presentation] Bilateral Control of Nonlinear Teleoperation for 2DOF Robot Manipulators with Antagonistic Bi-articular Muscles (2017)
  • Author(s): T. Murao, H. Kawai, K. Hirata, and M. Fujita
  • Organizer: Proc. of the 11th Asian Control Conference
  • Int'l Joint Research
• [Presentation] 機能的電気刺激を用いた立ち上がり動作のリハビリシステム構築に関する研究 (2017)
  • Author(s): 中村光一, 河合宏之, 村尾俊幸, 河合康典
  • Organizer: 第18回 SICE システムインテグレーション部門 講演会論文集
• [Presentation] 機能的電気刺激によるペダリング運動の速度制御 (2016)
  • Author(s): 久島康嘉, 河合宏之, 岸谷都
  • Organizer: 第17回 SICE システムインテグレーション部門 講演会論文集
  • Place of Presentation: 札幌
  • Year and Date: 2016-12-17
• [Presentation] Tracking Control using Muscle Contraction Model for Human Lower Limb (2016)
  • Author(s): Y. Kawai, K. Ejiri, and H. Kawai
  • Organizer: Proc. of the SICE Annual Conference 2016
  • Place of Presentation: Tsukuba, Japan
  • Year and Date: 2016-09-23
  • Int'l Joint Research
• [Presentation] Development of FES Alternate Knee Bending and Stretching System with RISE-based Control (2016)
  • Author(s): Y. Yamazaki, Y. Kushima, H. Kawai, Y. Kawai, T Murao, and R. Suzuki
  • Organizer: Proc. of the SICE Annual Conference 2016
  • Place of Presentation: Tsukuba, Japan
  • Year and Date: 2016-09-22
  • Int'l Joint Research
• [Presentation] Co-Contraction of Antagonist Muscles of Human Limb using Neural Network-based Control (2015)
  • Author(s): Y. Kawai, K. Ejiri, and H. Kawai
  • Organizer: Proc. of the 2015 IEEE/SICE International Symposium on System Integration
  • Place of Presentation: Nagoya, Japan
  • Year and Date: 2015-12-12
  • Int'l Joint Research
• [Presentation] FES Knee Bending and Stretching System with RISE-based Tracking Control for Human Limb (2015)
  • Author(s): Y. Kushima, K. Kawataka, H. Kawai, Y. Kawai, and W. E. Dixon
  • Organizer: Proc. of the 2015 IEEE Multi-conference on Systems and Control
  • Place of Presentation: Sydney, Australia
  • Year and Date: 2015-09-22
  • Int'l Joint Research