Robot-assisted therapy has been established as a useful rehabilitation tool for motor recovery in people with various neurological impairments; however, balancing human and robot contribution, such that the target muscle is sufficiently exercised, is necessary to improve the outcome of rehabilitation protocols. Functional Electrical Stimulation (FES) can assist a person to move their limb by contracting the muscle; however, motor assistance is often necessary to accurately follow a desired limb trajectory, especially since stimulation can be limited due to various factors (e.g., subject comfort, stimulation saturation). In this paper, a motor is tasked with intermittently assisting the FES-activated biceps brachii in tracking a desired forearm trajectory whenever the FES input reaches a pre-set comfort threshold. A Lyapunov-like switched systems stability analysis is used to prove exponential stability of the human-robot system. Preliminary experiments demonstrate the feasibility and performance of the controller on two subjects with neurological impairments.
- Dynamic Systems and Control Division
Varying Motor Assistance During Biceps Curls Induced via Functional Electrical Stimulation
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Rouse, CA, Cousin, CA, Duenas, VH, & Dixon, WE. "Varying Motor Assistance During Biceps Curls Induced via Functional Electrical Stimulation." 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. V001T07A007. ASME. https://doi.org/10.1115/DSCC2018-9083
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