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Title
Japanese:片麻痺患者のリハビリテーションに向けたFESによるペダリング運動の速度制御 
English:FES-assisted Cycling with Cadence Tracking Control for Rehabilitation of Hemiparesis 
Author
Japanese: 久島康嘉, 河合宏之, 村尾俊幸, 河合康典, 岸谷都, 鈴木亮一, 藤田政之.  
English: 久島康嘉, Hiroyuki Kawai, TOSHIYUKI MURAO, Yasunori Kawai, 岸谷都, Ryoichiro Suzuki, Masayuki FUJITA.  
Language Japanese 
Journal/Book name
Japanese:電気学会論文誌 C 
English: 
Volume, Number, Page Vol. 138    No. 11    pp. 1391-1398
Published date July 2018 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
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Conference site
Japanese: 
English: 
Abstract This paper considers a functional electrical stimulation (FES) cycling with cadence tracking control for rehabilitation of hemiparesis. A recumbent trike and rider with four muscle groups is modeled as an Euler Lagrange system based on a pedaling force direction. We propose cadence tracking control considering effects of antagonistic bi-articular muscles to stimulate multiple muscle groups continuously at all angles during pedaling motion. Stability of the developed controller is analyzed through Lyapunov-based methods. Experimental results in healthy participants are shown to confirm the validity of the proposed method and the potential for the rehabilitation of hemiparesis patients.

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