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Feedback Control to a Static Target Angle in the Middle Finger Metacarpophalangeal Joint Using Functional Electrical Stimulation
International Journal of Human-Computer Interaction ( IF 4.7 ) Pub Date : 2020-05-12 , DOI: 10.1080/10447318.2020.1758879
Kyosuke Watanabe 1 , Makoto Oka 2 , Hirohiko Mori 2
Affiliation  

In this study, we proposed a feedback control method for a finger joint angle, which has been considered difficult, via functional electrical stimulation using the surface electrode method. If detailed finger movement can be realized by functional electrical stimulation using the surface electrode method, this can be applied in various situations such as musical instrument performance, daily movements, and so on. The control method was designed based on the following three proposals. First, the non-linear relationship between the electrical stimulation intensity and joint angle change was absorbed by constructing polygonal line regression models of the relationship between the electrical stimulation intensity reaching each muscle and the flexion and extension force of the middle finger’s metacarpophalangeal joint. Second, the concepts of the muscle antagonist ratio and muscle antagonist sum were adopted to translate the input/output relationship to a single-input/single-output system while maintaining joint stiffness. Finally, the proportional–integral–derivative control parameters were determined using the Ziegler–Nichols ultimate sensitivity method. Using the control method based on the aforementioned three proposals, we conducted feedback control experiments for three static target angles in the middle finger’s metacarpophalangeal joint. Results show that at all target angles, greater than 80% of the participants were able to control the joint with nearly no error. Therefore, the control method proposed in this study can be used to control an arbitrary static target joint angle with high accuracy via functional electrical stimulation.



中文翻译:

功能性电刺激反馈控制中指掌指关节的静态目标角度

在这项研究中,我们通过使用表面电极方法进行功能性电刺激,提出了一种手指关节角度的反馈控制方法,该方法被认为很困难。如果可以使用表面电极方法通过功能性电刺激来实现详细的手指运动,则可以将其应用于各种情况,例如乐器演奏,日常运动等。根据以下三个建议设计了控制方法。首先,通过建立到达各条肌肉的电刺激强度与中指掌指关节屈伸力之间关系的折线回归模型,吸收电刺激强度与关节角度变化之间的非线性关系。第二,采用肌肉拮抗剂比率和肌肉拮抗剂总和的概念将输入/输出关系转换为单输入/单输出系统,同时保持关节的刚度。最后,使用齐格勒-尼科尔斯极限灵敏度法确定比例-积分-微分控制参数。使用基于上述三个建议的控制方法,我们对中指的掌指关节的三个静态目标角度进行了反馈控制实验。结果表明,在所有目标角度下,超过80%的参与者能够几乎没有错误地控制关节。因此,本研究提出的控制方法可以通过功能性电刺激高精度地控制任意的静态目标关节角度。

更新日期:2020-05-12
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