Effect of Pulse-Width Modulation Resolution on Angle Control of Wrist Joint Using Functional Electrical Stimulation

摘要

Research on joint angle control has mainly been focused on the control method of functional electrical stimulation (FES). In such research, the modulation resolution of the control input, which is the parameter that defines the stimulation intensity, is rarely discussed. This research is based on the assumption that the control input resolution effects the tracking performance of joint angle control using FES. In order to confirm this assumption, a stimulator that can modulate the pulse width of a biphasic current pulse at a high resolution of 20 ns is introduced. The experiments discuss the effect the pulse width has on the torque output and the effect the pulse-width modulation (PWM) resolution has on angle control of the wrist joint.