Disturbance estimation by generalized internal model control and its application to assistive devices for rehabilitation technology

Author

Suzuki, Ryoichi ; Hofer, Eberhard P. ; Tani, Masashi ; Fujiki, Nobuaki ; Furuya, Shigehiko ; Kobayashi, Nobuaki

Author_Institution

Kanazawa Inst. of Technol.

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

921

Lastpage

926

Abstract

Control applications to life science are significant for the development interacting with humans. Assistive devices for rehabilitation technology will be used by elderly or disabled people in order to support more life independence. For the interaction with humans, safety and reliability conditions have to be fulfilled, and control design methods for assistive devices have to be robust against parameter perturbations. To improve these situations, disturbance estimation property of the generalized internal model control (GIMC) design is applied. The effectiveness of the GIMC design is confirmed by experimental case studies for assistive devices

Keywords

control system synthesis; handicapped aids; patient rehabilitation; assistive devices; control design method; disturbance estimation; generalized internal model control design; life science; rehabilitation technology; Control design; Control systems; Educational institutions; Electromyography; Humans; Legged locomotion; Mechanical systems; Optimal control; Senior citizens; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4776768

Filename

4776768