NDLI: FES knee bending and stretching system with RISE-based tracking control for human limb

Content Provider	IEEE Xplore Digital Library
Author	Kushima, Y. Kawataka, K. Kawai, H. Kawai, Y. Dixon, W.E.
Copyright Year	2015
Description	Author affiliation: Dept. of Electr. Eng., Nat. Inst. of Technol., Ishikawa, Japan (Kawai, Y.) \|\| Dept. of Robot., Kanazawa Inst. of Technol., Ishikawa, Japan (Kushima, Y.; Kawataka, K.; Kawai, H.) \|\| Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA (Dixon, W.E.)
Abstract	This paper considers a functional electrical stimulation (FES) knee bending and stretching system on robust integral of the sign of the error (RISE)-based tracking control for human limb. The knee bending and stretching motion on rowing exercises is modeled as an Euler Lagrange system by using a closed-chain mechanism. Considering the scleronomic holonomic constraint, the equation of motion expressed in terms of the seat position is obtained. The human thigh model can be divided into three pairs of antagonistic muscles. The torque of the thigh consists of a combination of torque produced by the Quadriceps and Hamstrings muscle groups. The Quadriceps and Hamstrings are contracted by the electrical stimulation, and the control of stimulation is designed applying a RISE-based control framework. Experiment results are shown on seven healthy individuals by using a rowing exercise machine. The results confirm that the proposed muscle stimulation method can realize the knee bending and stretching motion similar to voluntary tracking.
Starting Page	870
Ending Page	875
File Size	878589
Page Count	6
File Format	PDF
e-ISBN	9781479977871
DOI	10.1109/CCA.2015.7320727
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-21
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Muscles Knee Joints Hip Force Tracking Torque
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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