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This paper considers tele-rehabilitation system by using the electrical stimulation based on the bilateral teleoperation for a human lower limb. The tele-rehabilitation means that a physical therapist rehabilitates a patient who is away from the physical therapist. When the therapist cannot check the condition of the patient directly, the haptic interface is used to feel the condition by the haptic...
This paper investigates a functional electrical stimulation (FES) cycling system on velocity tracking control for human limbs in order to stimulate multiple muscle groups continuously and simultaneously at all angles during pedaling. A stationary cycle and rider is modeled as an Euler Lagrange system by using a closed-chain mechanism. Stability of the developed controller is analyzed through Lyapunov-based...
This paper investigates iterative learning control based on passivity for two-degree-of-freedom (2DOF) robot manipulators with antagonistic bi-articular muscles. Firstly, a brief summary of dynamics of 2DOF robot manipulators with antagonistic bi-articular muscles is given. Next, an error dynamics of the bi-articular manipulator for iterative learning control that has an output strictly passivity...
This paper considers muscle contraction dynamics during co-contraction of antagonist bi-articular muscles for tracking control of a human limb. Co-contraction of antagonist muscles play an important role for joint stiffness and stability and experimental results show the existence of co-contraction during volitional movements. This paper shows the role of co-contraction by using three pairs of bi-articular...
A functional electrical stimulation (FES)-based tracking controller is developed to enable cycling based on a strategy to yield force direction efficiency by exploiting antagonistic bi-articular muscles. Given the input redundancy naturally occurring among multiple muscle groups, the force direction at the pedal is explicitly determined as a means to improve the efficiency of cycling. A model of a...
This paper considers RISE control for two-degree-of-freedom (2DOF) human lower limb with antagonistic bi-articular muscles. The antagonistic bi-articular muscles straddle the waist joint and the knee joint in the lower limb. Because the nonlinear model of the lower limb of the human body is uncertain, a robust control method is developed yield semiglobal asymptotic tracking. Simulation results indicate...
This paper investigates open-loop control, which does not need the joint angles and velocities, for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design...
This paper investigates a passivity-based control for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with...
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