Effect of Pulse-Width Modulation Resolution on Angle Control of Wrist Joint Using Functional Electrical Stimulation

Akari Takada, Akira Hirata, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
PublisherIEEE Computer Society
Pages13-18
Number of pages6
ISBN (Electronic)9781728159072
DOIs
Publication statusPublished - 2020 Nov
Event8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020 - New York City, United States
Duration: 2020 Nov 292020 Dec 1

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2020-November
ISSN (Print)2155-1774

Conference

Conference8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
CountryUnited States
CityNew York City
Period20/11/2920/12/1

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Fingerprint Dive into the research topics of 'Effect of Pulse-Width Modulation Resolution on Angle Control of Wrist Joint Using Functional Electrical Stimulation'. Together they form a unique fingerprint.

Cite this