著者

Sho Sakaino Tomoya Kitamura Naoto Mizukami Toshiaki Tsuji

出版者

The Institute of Electrical Engineers of Japan

雑誌

IEEJ Journal of Industry Applications (ISSN:21871094)

巻号頁・発行日

vol.10, no.2, pp.124-133, 2021-03-01 (Released:2021-03-01)

参考文献数

47

被引用文献数

4

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In functional electrical stimulation, the time delay between an input voltage and the corresponding muscle force is a significant issue. This study revealed that the joint angle/voltage relationship can be modeled as a fourth-order system. This enables the inclusion of a time delay in the high-order phase delay of the force/voltage relationship, which may lead to delay recovery using a suitable controller. Accordingly, a full state feedback controller is proposed in this study, to recover the phase delays. Jerk measurement is mandatory for full state feedback controllers owing to the joint the fourth-order joint angle/voltage relationship. This issue can be solved by the recent development of high-resolution encoders. Finally, the validity of the proposed method was verified experimentally.