Study of Control Design Method to Estimate Reflection Force and Development of Powered Ankle-foot Prostheses

• Project/Area Number: 21560476
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Control engineering
• Research Institution: Kanazawa Institute of Technology
• Principal Investigator: KOBAYASHI Nobuaki 金沢工業大学, 工学部, 教授 (60186757)
• Co-Investigator(Kenkyū-buntansha): SUZUKI Ryoichi 金沢工業大学, 工学部, 准教授 (50319042)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000); Fiscal Year 2011: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000); Fiscal Year 2010: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2009: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
• Keywords: 制御機器 / 福祉機器

Research Abstract

The research focuses on control methods for powered ankle-knee prostheses. Powered ankle-foot prostheses have been developed and studied to improve quality of life for disabilities. The main goal of this study is to determine the feasibility of generating adequate plantar flexion force and also to propose an adaptation control method for different gait speed by using the internal model control design. The prototype of the powered ankle foot prosthesis is developed to evaluate the proposed controller with gait speed adaptation. The results show that the prototype is able to a more natural gait than a conventional passive prosthesis and to provide adequate plantar flexion force for different gait speed.

Research Products

• [Journal Article] Control Method for Powered Ankle Prosthesis via Internal Model Control Design (2011)
  • Author(s): R. Suzuki, T. Sawada, N. Kobayashi, E. P. Hofer
  • Journal Title: Proc. the 2011 IEEE International Conference on Mechatronics and Automation Pages: 237-242
  • Peer Reviewed
• [Journal Article] Internal Model Control Design for Powered Below-knee Prosthesis (2011)
  • Author(s): R. Suzuki, T. Sawada, N. Kobayashi, E. P. Hofer
  • Journal Title: Proc. the XIV International Symposium on Dynamic Problems of Mechanics Pages: 284-289
  • Peer Reviewed
• [Journal Article] Internal Model Control Design for Powered Below-knee Prosthesis (2011)
  • Author(s): R.Suzuki, T.Sawada, N.Kobayashi, E.P.Hofer
  • Journal Title: Proceedings of 14^<th> International Symposium on Dynamic Problems of Mechanics Pages: 284-289
  • Peer Reviewed
• [Journal Article] Control Method for Powered Ankle Prosthesis via Internal Model Control Design (2011)
  • Author(s): R.Suzuki, T.Sawada, N.Kobayashi, E.P.Hofer
  • Journal Title: Proceedings of 2011 IEEE International Conference on Mechatronics and Automation Pages: 237-242
  • Peer Reviewed
• [Journal Article] 簡易型内部モデル制御の構成法と把持力制御への応用 (2010)
  • Author(s): 鈴木亮一, 伊藤恒平, 菅原映, 小林伸明
  • Journal Title: 電気学会論文誌C Volume: Vol.130-1 Pages: 139-145
  • NAID: 10026227743
  • Peer Reviewed
• [Journal Article] 状態フィードバックによるH∞制御の極限特性についての検討 (2010)
  • Author(s): 鈴木亮一, 谷正史, 池本元紀, 小林伸明
  • Journal Title: 計測自動制御学会 Volume: Vol.46, No.3 Pages: 157-167
  • Peer Reviewed
• [Journal Article] 簡易型内部モデル制御の構成法と把持力制御への応用 (2010)
  • Author(s): 小林伸明、鈴木亮一, 他
  • Journal Title: 電気学会論文誌C 130,1
  • NAID: 10026227743
  • Peer Reviewed
• [Journal Article] 状態フィードバックによるH∞制御の極限特性についての検討 (2010)
  • Author(s): 小林伸明、鈴木亮一, 他
  • Journal Title: 計測自動制御学会論文集 46,3
  • Peer Reviewed
• [Journal Article] Control System for Lower Limb Function Training Device by Using Internal Model Control Design (2009)
  • Author(s): R. Suzuki, I. Kitabayashi, N. Kobayashi, E. P. Hofer
  • Journal Title: Proc. IEEE 11^<th> International Conference on Rehabilitation Robotics Pages: 556-559
  • Peer Reviewed
• [Presentation] 内部モデル制御を利用した短下肢義足の足首関節角度制御と階段昇降動作の生成 (2011)
  • Author(s): 澤田隆之, 松本俊哉, 高須賀俊輔, 鈴木亮一, 小林伸明
  • Organizer: 計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 京都・京都大学
  • Year and Date: 2011-12-25
• [Presentation] 内部モデル制御を利用した短下肢義足の足首関節角度制御と階段昇降動作の生成 (2011)
  • Author(s): 鈴木亮一, 小林伸明, 他3名
  • Organizer: 第12回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 京都,京都大学吉田キャンパス
  • Year and Date: 2011-12-25
• [Presentation] 内部モデル制御を利用した短下肢義足の角度制御によるけり動作の生成 (2010)
  • Author(s): 鈴木亮一, 澤田隆之, 山本匠太, 小林伸明
  • Organizer: 計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 仙台・東北大学
  • Year and Date: 2010-12-25
• [Presentation] 内部モデル制御を利用した短下肢義足の角度制御によるけり動作の生成 (2010)
  • Author(s): 鈴木亮一, 澤田隆之, 山本匠太, 小林伸明
  • Organizer: 第11回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 仙台,東北大学川内キャンパス
  • Year and Date: 2010-12-25
• [Presentation] 能動型下腿義足のためのけり動作を実現する補助装置の開発 (2010)
  • Author(s): 澤田隆之, 山本匠太, 鈴木亮一, 小林伸明
  • Organizer: 電気関係学会北陸支部連合大会
  • Place of Presentation: 福井・福井高専
  • Year and Date: 2010-09-11
• [Presentation] Internal Model Control Based Controller for Sensorless Force Control and Its Applications to Myoelectric Robotic Hand (2009)
  • Author(s): 鈴木亮一
  • Organizer: IIEEE IECON 2009
  • Place of Presentation: Porto, PORTUGAL
  • Year and Date: 2009-11-04
• [Presentation] Control System for Lower Limb Function Training Device by using Internal Model Control (2009)
  • Author(s): 鈴木亮一
  • Organizer: IEEE 11^<th> International Conference on Rehabilitation Robotics
  • Place of Presentation: 京都・国際会議場
  • Year and Date: 2009-06-25