Admittance Control of Motorized Functional Electrical Stimulation Cycle

Christian A. Cousin, Victor H. Duenas, Courtney A. Rouse, Warren E. Dixon

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


Motorized functional electrical stimulation (FES) cycling is a promising rehabilitation option for individuals with neurological conditions. Closed-loop motorized FES cycling requires multiple controllers to actuate the rider's muscles through FES and the cycle's electric motor, ultimately resulting in cooperative human-robot interaction. In this paper, the rider's muscle track cadence when kinematically efficient and the cycle's electric motor tracks admittance, guaranteeing stable, safe interaction. A Lyapunov-like switched systems analysis is utilized to conclude global exponential tracking of the cadence error system and passivity of the cycle's admittance controller with respect to the rider. Multiple experiments are conducted on one able-bodied participant to demonstrate the efficacy of the developed controller and investigate the effect of manipulating individual admittance parameters.

Original languageEnglish (US)
Pages (from-to)272-277
Number of pages6
Issue number34
StatePublished - Jan 1 2019
Externally publishedYes


  • Admittance
  • Functional Electrical Stimulation (FES)
  • Lyapunov
  • Passivity
  • Rehabilitation Robot

ASJC Scopus subject areas

  • Control and Systems Engineering


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