Control Using High-carrier Frequency PWM in Functional Electrical Stimulation

In this paper, we discuss the use of pulse width modulation (PWM) with high-carrier frequency as an input for functional electrical stimulation (FES). Previous studies have shown that the relationship between muscle inflow current and joint exerted force can be approximated by a first-order lag system that includes the dead time. This characteristic can be improved by using an input based on high-frequency PWM. In PWM, the component of the carrier frequency can be made smaller than pulse amplitude modulation (PAM), and in addition, the carrier frequency can be set to a high value. This means that it is possible to move only the frequency component of the desired operating command without any effect of the carrier frequency. First, PWM and PAM were experimentally compared. Second, the performances achieved by using high-carrier frequency and low carrier frequency were compared. Finally, the control performance achieved using a sinusoidal motion command was verified by changing the carrier frequency. The gain attenuation caused by the non-linearity of the human body was clarified for high-carrier frequencies. Therefore, the control performance was worse than the originally desired result. However, the advantages of using high-carrier frequency to reduce fatigue attenuation and to suppress the effect of carrier frequency were demonstrated.

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