Home >

news Help

Publication Information


Title
Japanese: 
English:RISE Control for 2DOF Human Lower Limb with Antagonistic Bi-Articular Muscles 
Author
Japanese: 河合 康典, 河合 宏之, 藤田 政之.  
English: Y. Kawai, H. Kawai, M. Fujita.  
Language English 
Journal/Book name
Japanese: 
English:Proc. of 2013 IEEE Multi-conference on Systems and Control 
Volume, Number, Page         pp. 109-114
Published date Aug. 29, 2013 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English:2013 IEEE Multi-conference on Systems and Control 
Conference site
Japanese: 
English:Hyderabad 
DOI https://doi.org/10.1109/CCA.2013.6662752
Abstract This paper considers RISE control for two-degreeof- freedom (2DOF) human lower limb with antagonistic biarticular 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 that the torques in joint 2 of the 2DOF lower limb is lower than the previous method, because of antagonistic bi-articular muscles. It is verified that the 2DOF lower limb can move to the desired position in the presence of unmodeled bounded disturbances.

©2007 Institute of Science Tokyo All rights reserved.