Closed Loop NMES Control of Human Limb with Three Pairs of Antagonist Muscles

2015 Fiscal Year Final Research Report

• Project/Area Number: 25820188
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Control engineering/System engineering
• Research Institution: Ishikawa National College of Technology
• Principal Investigator: KAWAI Yasunori 石川工業高等専門学校, その他部局等, 准教授 (90413765)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: 制御工学 / 電気刺激(NMES) / 3対6筋モデル

Outline of Final Research Achievements

This project considers a NMES (Neuromuscular Electrical Stimulation) control of muscles by RISE based control using the three pairs of antagonist muscles of human limb. First, a human limb model is derived and the stability analysis is presented. The human limb model is composed of the dynamics of knee joint and the muscle contraction. For the human limb model, the stability analysis is considered by using RISE based control law. Next, the experimental equipment is built. The equipment consists of an electrical stimulus machine, a signal processing board, a leg extension machine, an encoder. The knee extension and flexion can be implemented by the equipment. Finally, the tracking performance and disturbance attenuation are verified by using the control law for the knee extension and flexion in the experiment.

Free Research Field

制御工学