Velocity Tracking Control of FES Alternate Knee Bending and Stretching Trike

自動制御連合講演会 (CD-ROM)

Published On 2020

荒木, 久島, 河合 (宏), 村尾, 河合 (康), 岸谷: 車速を考慮した機能的電気刺激による下肢のペダリング制御に関する研究; 第 62 回自動制御連合講演会講演論文集, 1C3-05,(2019)

Journal

自動制御連合講演会 (CD-ROM)

Published On

2020

Volume

63

Page

3-3

Authors

Toshiyuki Murao

Toshiyuki Murao

Kanazawa Institute of Technology

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12

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6

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0

I-10 Index(since 2020)

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0

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Research Interests

Control

Robotics

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Other Articles from authors

Toshiyuki Murao

Toshiyuki Murao

Kanazawa Institute of Technology

IEEJ Transactions on Electronics, Information and Systems

Visual Feedback Control With an Input-to-State Safe Control Barrier Function

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Toshiyuki Murao

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Pose Synchronization for Semi-Autonomous Dynamic Robotic Swarms with a Passivity-Short Human Operator

This paper presents a pose synchronization method for semi-autonomous dynamic robotic swarms with a passivityshort human operator. In the human-robot network, a human operator sends a command signal to and receives visual information from only a part of the robotic group. In this setting, the proposed dynamic control scheme achieves not only pose synchronization of all mobile robots but also convergence to the reference pose that the human operator specifies. The main advantage of the proposed method is to guarantee convergence of not only the position but also the orientation to the reference ones in the human-robot network. Finally, we provide human-in-the-loop simulation results through the human operation using a tablet PC to illustrate the performance of the proposed control method.

2023/10/16

Article Details
Toshiyuki Murao

Toshiyuki Murao

Kanazawa Institute of Technology

IFAC-PapersOnLine

Tracking Control for FES Alternate Knee Bending and Stretching Trike With Electric Motor Assistance

This paper deals with a new control method for functional electrical stimulation (FES) alternate knee bending and stretching trike with electric motor assistance. While FES-cycling is known as a beneficial exercise for people with movement disorders, a paraplegia patient could not pedal smoothly by applying the previous method. One of the possible reasons is that there is a dead point in the pedaling motion intrinsically. To overcome this drawback, we developed a trike system which can be moved by alternating knee bending and stretching of the left and right legs for paraplegia patients. Electric motor assistance plays an important role to recover deceleration of the trike when switching between flexion and extension. Stability of the developed control law is analyzed through Lyapunov-based methods.

Toshiyuki Murao

Toshiyuki Murao

Kanazawa Institute of Technology

IEEJ Transactions on Electronics, Information and Systems

Pose Control With an Input-to-state Safe Control Barrier Function for Rigid Body Motion

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Toshiyuki Murao

Toshiyuki Murao

Kanazawa Institute of Technology

計測自動制御学会システム・情報部門学術講演会講演論文集 (CD-ROM)

マルチタイムスケール性を考慮した LQ 電力需給ネットワークに対する動的統合メカニズム

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Toshiyuki Murao

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Kanazawa Institute of Technology

IEEJ Transactions on Electronics, Information and Systems

Passivity-Based Cooperative Dynamic Control for Human-Rigid Body Networks

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Toshiyuki Murao

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Kanazawa Institute of Technology

Transactions of the Society of Instrument and Control Engineers

A Dynamic Budget-balanced Integration Mechanism for LQG Power Networks with Individual Preferences

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Toshiyuki Murao

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Kanazawa Institute of Technology

Iterative learning control for FES-cycling With antagonistic biarticular muscles

A cycling system using functional electrical stimulation (FES) provides effective rehabilitation for patients with neurological disorders. Designing a FES-based cycling system with antagonistic bilateral muscles and Repetitive learning controller (RLC) can reduce physical discomfort for patients. In addition, previous studies have shown that control measurements require human body parameters, and thus, it is difficult to make control measurements that correspond to individual users. Therefore, in this paper, we constructed the FES cycling system that considers the antagonistic biarticular muscles using RLC and a semi-global control law that does not require human body parameters The stability of the controller was determined in the Lyapunov's stability theorem, and the asymptotic stability was proved.

2020/10/18

Article Details
Toshiyuki Murao

Toshiyuki Murao

Kanazawa Institute of Technology

Tracking Control of FES Alternate Knee sBending and Stretching Trike in Consideration of Running Velocity

This paper considers the control method for functional electrical stimulation (FES) alternate knee bending and stretching trike system that takes into account the running velocity in outdoor environments for rehabilitation for patients with a motor system disorder (e.g., spinal cord injury or Parkinson's disease). The control objective of the proposed controller is to make the running velocity of the trike follow the desired one. FES trike and a rider are modeled by considering running resistances, characteristics of the freewheel, and force direction of each lower limb's 2 muscle groups. Stability of the developed controller is analyzed through Lyapunov-based methods.

2020/10/18

Article Details
Toshiyuki Murao

Toshiyuki Murao

Kanazawa Institute of Technology

IEEJ Transactions on Electronics, Information and Systems

Development of a FES Knee Bending and Stretching Trike System with RISE-based Control and Its Experimental Verification

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Toshiyuki Murao

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Kanazawa Institute of Technology

IFAC-PapersOnLine

Velocity Tracking Control of Recumbent Trike with Functional Electrical Stimulation

This paper investigates a functional electrical stimulation (FES) cycling system on movement velocity tracking control of recumbent trike. The developed system is intended to run outdoors by trike with FES pedaling for rehabilitation. The control objective of the proposed controller is to make the movement velocity follow the desired velocity. FES trike and rider is modeled as an Euler Lagrange system by considering movement resistances, characteristics of the freewheel, and force direction of each lower limb’s four muscle groups. Stability of the developed controller is analyzed through Lyapunov-based methods.

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Kanazawa Institute of Technology

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This chapter describes an incentive-based market that integrates the economic layer and the physical layer to guarantee high-quality physical ancillary services in dynamic power networks. Toward the full liberalization of the electricity markets, it is indispensable to develop a socially optimal regulation market with a high-speed market-clearing mechanism while preventing maliciously strategic biddings of market participants called agents. To realize the markets, the utility functioning as a system operator prepares an appropriate incentive mechanism to elicit the agents’ private information. We refer to this real-time incentive-enabled market as an incentivizing market. After illustrating the issues of the agents’ strategic biddings without incentive mechanisms, we mainly propose incentivizing market mechanisms for moral hazard problems and adverse selection problems in dynamic power networks, respectively. We …

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