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dc.contributor.author Kim, Junyoung ko
dc.contributor.author Kim, Jonghyun ko
dc.date.accessioned 2018-12-05T07:56:46Z -
dc.date.available 2018-12-05T07:56:46Z -
dc.date.created 2018-11-30 -
dc.date.issued 2018-08-29 -
dc.identifier.citation 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018, pp.1230 - 1235 -
dc.identifier.isbn 9.78154E+12 -
dc.identifier.issn 2155-1774 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/9473 -
dc.description.abstract During human gait, the mechanical impedances of lower limb joints are modulated to achieve better stabilization and energy efficiency. Therefore, modulating impedance is a promising method to assist the patients with impaired gait. In this paper, we have attempted to implement the impedance modulation of ankle joint by using an impedance control scheme based on functional electrical stimulation. The control scheme, position-based impedance control, contains desired impedance model and a robust inner loop position controller using time delay estimation. The feasibility of the proposed impedance modulation using impedance control was shown through an experiment. © 2018 IEEE. -
dc.language English -
dc.publisher IEEE Computer Society -
dc.title An Impedance Control of Human Ankle Joint Using Functional Electrical Stimulation -
dc.type Conference -
dc.identifier.doi 10.1109/BIOROB.2018.8487225 -
dc.identifier.scopusid 2-s2.0-85056577026 -
dc.type.local Article(Overseas) -
dc.type.rims CONF -
dc.description.journalClass 1 -
dc.identifier.citationStartPage 1230 -
dc.identifier.citationEndPage 1235 -
dc.identifier.citationTitle 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018 -
dc.identifier.conferencecountry NE -
dc.identifier.conferencelocation Enschede -
dc.contributor.affiliatedAuthor Kim, Jonghyun -
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Department of Robotics and Mechatronics Engineering REL(Rehabilitation Engineering Laboratory) 2. Conference Papers

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