2020 Volume Annual58 Issue Abstract Pages 398
We have considered about control method of functional electrical stimulation (FES) based on equilibrium point hypothesis which said that human controls their equilibrium point and stiffness. Specifically, we proposed concepts of electrical agonist-antagonist muscles ratio (EAA ratio: an index of equilibrium point) and electrical agonist-antagonist muscles sum (EAA sum: an index of stiffness), in which agonist-antagonist muscles are controlled cooperatively. We have modeled a human joint movement and the model variables are controlled by EAA sum (joint stiffness). On the other hand, force length relation of human muscles is variable, because they have non-linear characteristic. Therefore, we have to clear how these models are dependent on posture when we use these. In this research, we cleared the relationship between joint angle and stiffness controlled by EAA sum.As the result, this relationship was not constant. Thus, we suggest that the model has to be corrected by posture.
