The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)
- Volume 58 Issue 1
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- Pages.203-209
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- 2009
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- 1975-8359(pISSN)
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- 2287-4364(eISSN)
Development of Joint Angle Measurement System for the Feedback Control in FES Locomotion
FES보행중의 피드백제어를 위한 관절 각도계측 시스템 개발
- Moon, Ki-Wook ;
- Kim, Chul-Seung ;
- Kim, Ji-Won ;
- Lee, Jea-Ho ;
- Kwon, Yu-Ri ;
- Kang, Dong-Won ;
- Khang, Gon ;
- Kim, Yo-Han ;
- Eom, Gwang-Moon
- 문기욱 (건국대 의료생명대 의학공학부) ;
- 김철승 (고려대학교) ;
- 김지원 (건국대 의료생명대 의학공학부) ;
- 이재호 (건국대 의료생명대 의학공학부) ;
- 권유리 (건국대 의료생명대 의학공학부) ;
- 강동원 (건국대 의료생명대 의학공학부) ;
- 강곤 (경희대 전자정보대 동서의료공학과) ;
- 김요한 (건국대학교 충주병원) ;
- 엄광문 (건국대 의료생명대 의학공학부, 건국대 의공학실용기술연구소)
- Published : 2009.01.01
Abstract
The purpose of this study is to develop a minimally constraint joint angle measurement system for the feedback control of FES (functional electrical stimulation) locomotion. Feedback control is desirable for the efficient FES locomotion, however, the simple on-off control schemes are mainly used in clinic because the currently available angle measurement systems are heavily constraint or cosmetically poor. We designed a new angle measurement system consisting of a magnet and magnetic sensors located below and above the ankle joint, respectively, in the rear side of ipsilateral leg. Two magnetic sensors are arranged so that the sensing axes are perpendicular each other. Multiple positions of sensors attachment on the shank part of the ankle joint model and also human ankle joint were selected and the accuracy of the measured angle at each position was investigated. The reference ankle joint angle was measured by potentiometer and motion capture system. The ankle joint angle was determined from the fitting curve of the reference angle and magnetic flux density relationship. The errors of the measured angle were calculated at each sensor position for the ankle range of motion (ROM)
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