This article presents an overview of a control systems perspective. An electric field when applied to yield functional tasks is called as functional electrical stimulation (FES). FES is commonly prescribed as a treatment for various neurological disorders. Given the existence of regions in the crank cycle where it is inefficient to produce torque, a motor can be included as another torque source. FES control of the muscles yields cadence tracking in torque efficient regions, while the motor yields cadence tracking when it is efficient for the limbs to produce torque. The inclusion of a motor enables switching between stable systems and eliminates the need for the development of sufficient dwell-time conditions. Hence, the development of adaptive switched controllers for motorized FES-cycling systems may have a closer horizon. The inclusion of a motor also expands the possible control objectives that can be pursued.
Matthew Bellman has been a member of the Nonlinear Controls and Robotics Group since May 2009, and has since received both his bachelor’s and master’s degrees, magna cum laude, in mechanical engineering with a minor in biomechanics from the University of Florida. Matthew recently completed his doctoral degree in mechanical engineering as a National Defense Science and Engineering (NDSEG) Fellow, with a focus on the theoretical development of robust, adaptive control systems for applications involving functional electrical stimulation, specifically those involving rehabilitation and mobility of the lower extremities. His work has been recognized by the 2015 American Automatic Control Council (AACC) O. Hugo Schuck (Best Paper) Award
Prof. Warren Dixon received his Ph.D. in 2000 in the Department of Electrical and Computer Engineering from Clemson University. He was selected as an Eugene P. Wigner Fellow at Oak Ridge National Laboratory (ORNL). In 2004, he joined the University of Florida in the Mechanical and Aerospace Engineering Department. His main research interest has been the development and application of Lyapunov-based control techniques for uncertain nonlinear systems. He has published 3 books, an edited collection, 12 chapters, and over 120 journal and 220 conference papers. His work has been recognized by the 2015 & 2009 American Automatic Control Council (AACC) O. Hugo Schuck (Best Paper) Award, the 2013 Fred Ellersick Award for Best Overall MILCOM Paper, a 20122013 University of Florida College of Engineering Doctoral Dissertation Mentoring Award, the 2011 American Society of Mechanical Engineers (ASME) Dynamics Systems and Control Division Outstanding Young Investigator Award, the 2006 IEEE Robotics and Automation Society (RAS) Early Academic Career Award, an NSF CAREER Award (2006-2011), the 2004 Department of Energy Outstanding Mentor Award, and the 2001 ORNL Early Career Award for Engineering Achievement. He is an ASME and IEEE Fellow, an IEEE Control Systems Society (CSS) Distinguished Lecturer, and served as the Director of Operations for the Executive Committee of the IEEE CSS Board of Governors (20122015). He currently serves as a member of the U.S. Air Force Science Advisory Board. He is currently or was formerly an associate editor for ASME Journal of Journal of Dynamic Systems, Measurement and Control, Automatica, IEEE Control Systems Magazine, IEEE Transactions on Systems Man and Cybernetics: Part B Cybernetics, and the International Journal of Robust and Nonlinear Control.
Dixon, W., and Bellman, M. (September 1, 2016). "Cycling." ASME. Mechanical Engineering. September 2016; 138(09): S3–S7. https://doi.org/10.1115/1.2016-Sep-4
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