Rehabilitation robotics and functional electrical stimulation (FES) are two promising methods of rehabilitation for people with neurological disorders. In motorized FES cycling, both the rider and the motorized cycle must be controlled for cooperative human-machine interaction. While rehabilitation goals vary widely, FES cycling traditionally rejects rider disturbances to accomplish cadence and power tracking; however, this paper ensures that the cycle accommodates the rider without rejecting rider disturbances as a means to promote function and strength recovery while ensuring rider safety. A cadence and admittance controller are developed to activate the cycle’s electric motor and the rider’s leg muscles through FES when kinematically efficient. Using a single set of combined cycle-rider dynamics, a Lyapunov-like switched systems analysis is conducted to conclude global exponential cadence tracking. A subsequent passivity analysis is conducted to show the admittance controller is passive with respect to the rider. For a desired cadence of 50 RPM, preliminary experiments on one able-bodied participant and one participant with spina bifida demonstrate tracking errors of −0.07±2.59 RPM and −0.20±3.86 RPM, respectively.
Skip Nav Destination
ASME 2018 Dynamic Systems and Control Conference
September 30–October 3, 2018
Atlanta, Georgia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5189-0
PROCEEDINGS PAPER
Stable Cadence Tracking of Admitting Functional Electrical Stimulation Cycle
Christian A. Cousin,
Christian A. Cousin
University of Florida, Gainesville, FL
Search for other works by this author on:
Victor H. Duenas,
Victor H. Duenas
University of Florida, Gainesville, FL
Search for other works by this author on:
Courtney A. Rouse,
Courtney A. Rouse
University of Florida, Gainesville, FL
Search for other works by this author on:
Warren E. Dixon
Warren E. Dixon
University of Florida, Gainesville, FL
Search for other works by this author on:
Christian A. Cousin
University of Florida, Gainesville, FL
Victor H. Duenas
University of Florida, Gainesville, FL
Courtney A. Rouse
University of Florida, Gainesville, FL
Warren E. Dixon
University of Florida, Gainesville, FL
Paper No:
DSCC2018-8989, V001T07A003; 7 pages
Published Online:
November 12, 2018
Citation
Cousin, CA, Duenas, VH, Rouse, CA, & Dixon, WE. "Stable Cadence Tracking of Admitting Functional Electrical Stimulation Cycle." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare. Atlanta, Georgia, USA. September 30–October 3, 2018. V001T07A003. ASME. https://doi.org/10.1115/DSCC2018-8989
Download citation file:
15
Views
Related Proceedings Papers
Related Articles
Cycling
Mechanical Engineering (September,2016)
Design and Control of Chemomuscle: A Liquid-Propellant-Powered Muscle Actuation System
J. Dyn. Sys., Meas., Control (March,2011)
Assessment of Hindlimb Locomotor Strength in Spinal Cord Transected Rats through Animal-Robot Contact Force
J Biomech Eng (December,2011)
Related Chapters
Health and Safety and Emergency Response
Pipeline Transportation of Carbon Dioxide Containing Impurities
Analysis and Evaluation on Statistical Characteristics of VANETs
International Conference on Computer and Automation Engineering, 4th (ICCAE 2012)
Characteristics Measurement and FPGA Controller Design for an Air Motor and Electric Motor Hybrid Power System
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)