Bilateral Control of Human Upper Limbs Using Functional Electrical Stimulation Based on Dynamic Model Approximation

被引：5

作者：

Kitamura, Tomoya ^{[1
]}

Sakaino, Sho ^{[2
]}

Hara, Masayuki ^{[1
]}

Tsuji, Toshiaki ^{[1
]}

机构：

[1] Saitama Univ, Grad Sch Sci & Engn, Sakura Ku, 255 Shimo Ohkubo, Saitama 3388570, Japan

[2] Univ Tsukuba, Fac Engn Informat & Syst, JST PRESTO, 1-1-1 Tennodai, Tsukuba, Ibaraki 3058577, Japan

来源：

IEEJ JOURNAL OF INDUSTRY APPLICATIONS | 2021年 / 10卷 / 04期

基金：

日本科学技术振兴机构;

关键词：

bilateral control; dexterous manipulators; functional electrical stimulation (FES); modeling; reaction torque observer (RTOB); teleoperation; ROBUST-CONTROL; SLIDING MODE; FEEDBACK; TORQUE; WALKING;

D O I：

10.1541/ieejjia.20009551

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Bilateral control is a remote-control technique that can transmit the reaction force received by a slave as feedback to its master. However, it poses several problems; hence, bilateral control using functional electrical stimulation (FES) has been proposed as a solution. Generally, in bilateral control, position synchronization and establishing the force action-reaction are considered the control targets for an acceptable force sense transmission. In this study, bilateral control using FES based on a dynamic model is proposed to achieve position synchronization and force action-reaction. The approximation of the relationship between the stimulus value and the exerted torque by the dynamic model is expected to simplify the creation of inverse models and improve the force control performance. The results obtained through comparison with other methods indicated that the proposed method reduced the angle and torque tracking errors between the master and slave. The results also revealed that the proposed bilateral control system achieved highly accurate position synchronization and force action-reaction in bilateral control using FES.

引用

页码：443 / 456

页数：14

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