荒木 望

The dual-rate control system, in which the sampling interval is an integer multiple of the holding interval, is designed using the null-space of the steady-state characteristic of the controlled plant. In the proposed method, a dual-rate control law is extended independent of the steady-state discrete-time output response. As a result, the intersample ripples caused by the input oscillation are eliminated by reallocating the control input. The proposed method based on the steady-state characteristic is a simple strategy compared with conventional methods based on the dynamic characteristic. © 2021 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.

This paper considered a rehabilitation device for leg paralyzed patients and developed a foot pedaled exercise device. This device has foot pedal driven by motor and crank mechanism, and forcibly moves legs fixed on pedals. To confirm performance of this device as a part of brain- machine interface (BMI) lower limb rehabilitation system, we investigated user's brain activity during his foot pedal exercise by electroencephalography (EEG) and near-infrared spectroscopy (NIRS). As a result, we confirmed that the brain activity characteristics measured at using our developed device is almost the same as the characteristics measured at using bicycle ergometer. This indicates that our developed device is possible to use a lower limb rehabilitation device.