{'fraction_non_alphanumeric': 0.020022246941045607, 'fraction_numerical': 0.0, 'mean_word_length': 5.474820143884892, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Fatigue Estimation using Nonlinear Disturbance Observer for Tele-Rehabilitation System with Electrical Stimulation

This paper considers a muscle fatigue estimation using a nonlinear disturbance observer for a tele-rehabilitation system with an electrical stimulation. The main contribution is to apply the nonlinear disturbance observer to detect the muscle fatigue. First, the patient’s knee joint model is proposed. Next, the nonlinear disturbance observer is derived by using the knee joint model. Finally, the experiment of the tele-rehabilitation with the constant time delay is implemented. Though the range of the patient’s knee angle is same, the force provided by the physical therapist is increased. Then the magnitude of the estimated disturbance is increased in the negative direction. Therefore, the muscle fatigue can be estimated by using the proposed nonlinear disturbance observer.