TY - GEN
T1 - Effect of Pulse-Width Modulation Resolution on Angle Control of Wrist Joint Using Functional Electrical Stimulation
AU - Takada, Akari
AU - Hirata, Akira
AU - Katsura, Seiichiro
N1 - Funding Information:
ACKNOWLEDGMENTS This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Programme (SCOPE), 201603011, 2020.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/11
Y1 - 2020/11
N2 - Research on joint angle control has mainly been focused on the control method of functional electrical stimulation (FES). In such research, the modulation resolution of the control input, which is the parameter that defines the stimulation intensity, is rarely discussed. This research is based on the assumption that the control input resolution effects the tracking performance of joint angle control using FES. In order to confirm this assumption, a stimulator that can modulate the pulse width of a biphasic current pulse at a high resolution of 20 ns is introduced. The experiments discuss the effect the pulse width has on the torque output and the effect the pulse-width modulation (PWM) resolution has on angle control of the wrist joint.
AB - Research on joint angle control has mainly been focused on the control method of functional electrical stimulation (FES). In such research, the modulation resolution of the control input, which is the parameter that defines the stimulation intensity, is rarely discussed. This research is based on the assumption that the control input resolution effects the tracking performance of joint angle control using FES. In order to confirm this assumption, a stimulator that can modulate the pulse width of a biphasic current pulse at a high resolution of 20 ns is introduced. The experiments discuss the effect the pulse width has on the torque output and the effect the pulse-width modulation (PWM) resolution has on angle control of the wrist joint.
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U2 - 10.1109/BioRob49111.2020.9224308
DO - 10.1109/BioRob49111.2020.9224308
M3 - Conference contribution
AN - SCOPUS:85095577613
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 13
EP - 18
BT - 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
PB - IEEE Computer Society
T2 - 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
Y2 - 29 November 2020 through 1 December 2020
ER -