舌運動リハビリテーションシステムのダイナミクス設計と患者の運動能力に応じた自動調整法

抄録

This paper describes a tuning method of a rehabilitation system for tongue exercise such that participants control a cursor which moves to the target on the display by the movement of the tongue. As a rehabilitative training, each participant has different movement capability, therefore operational feelings and training loads are to be different. Therefore, we propose a method for adjusting the trajectories among participants. The time base generator (TBG), which is a bio-mimetic trajectory, is employed as the desired response of the cursor trajectories and a fictitious reference iterative tuning (FRIT) approach is used for tuning the system. Finally, simulations show the effectiveness of the proposed method.