2023 Fiscal Year Final Research Report
Development of FES-assisted Standing-up Motion Control System Considering Center of Mass Motion and Individual Muscle Characteristics
| Project/Area Number |
21K04114
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 21040:Control and system engineering-related
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| Research Institution | Kanazawa Institute of Technology |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
平田 研二 富山大学, 学術研究部工学系, 教授 (40314364)
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | 立ち上がり運動 / 機能的電気刺激 / リハビリシステム |
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| Outline of Final Research Achievements |
This project has proposed the FES-supported standing-up motion control incorporating the center of mass (COM) motion for rehabilitation for patients with neurological disabilities. The COM motion is controlled by electrical current input, which is delivered through the upper limbs and adjusted according to the velocity of the COM. As a practical contribution, we developed a system that can measure the left-right difference in the center of gravity position in addition to the front-back COM shift during the standing-up motion. Experimental results in healthy participants are shown to confirm the effectiveness of the proposed method.
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| Free Research Field |
ロボット制御工学
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| Academic Significance and Societal Importance of the Research Achievements |
本研究で提案した FES 立ち上がり補助システムは，従来まで議論されてこなかったしゃがみ込み状態からの立ち上がり運動を実現できる点が大きな特徴である．上肢と下肢をそれぞれラグランジュの運動方程式で表現したうえで，理論的に安定性を保証する安定化制御則に基づく下肢への筋刺激により立ち上がり運動を補助し，Zero型制御バリア関数を用いた制御則に基づき上肢へ筋刺激することで重心移動を促す手法を提案している点に学術的意義があると考えられる．
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