Admittance Control of Motorized Functional Electrical Stimulation Cycle

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

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

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
JournalIFAC-PapersOnLine
Volume51
Issue number34
DOIs
StatePublished - Jan 1 2019
Externally publishedYes

Fingerprint

Electric motors
Controllers
Muscle
Human robot interaction
Patient rehabilitation
Systems analysis
Experiments

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Admittance Control of Motorized Functional Electrical Stimulation Cycle. / Cousin, Christian A.; Duenas, Victor; Rouse, Courtney A.; Dixon, Warren E.

In: IFAC-PapersOnLine, Vol. 51, No. 34, 01.01.2019, p. 272-277.

Research output: Contribution to journalArticle

Cousin, Christian A. ; Duenas, Victor ; Rouse, Courtney A. ; Dixon, Warren E. / Admittance Control of Motorized Functional Electrical Stimulation Cycle. In: IFAC-PapersOnLine. 2019 ; Vol. 51, No. 34. pp. 272-277.
@article{bfba66f4b9834b65a19ad41f63ffa221,
title = "Admittance Control of Motorized Functional Electrical Stimulation Cycle",
abstract = "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.",
keywords = "Admittance, Functional Electrical Stimulation (FES), Lyapunov, Passivity, Rehabilitation Robot",
author = "Cousin, {Christian A.} and Victor Duenas and Rouse, {Courtney A.} and Dixon, {Warren E.}",
year = "2019",
month = "1",
day = "1",
doi = "10.1016/j.ifacol.2019.01.040",
language = "English (US)",
volume = "51",
pages = "272--277",
journal = "IFAC-PapersOnLine",
issn = "2405-8963",
publisher = "IFAC Secretariat",
number = "34",

}

TY - JOUR

T1 - Admittance Control of Motorized Functional Electrical Stimulation Cycle

AU - Cousin, Christian A.

AU - Duenas, Victor

AU - Rouse, Courtney A.

AU - Dixon, Warren E.

PY - 2019/1/1

Y1 - 2019/1/1

N2 - 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.

AB - 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.

KW - Admittance

KW - Functional Electrical Stimulation (FES)

KW - Lyapunov

KW - Passivity

KW - Rehabilitation Robot

UR - http://www.scopus.com/inward/record.url?scp=85061200004&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85061200004&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2019.01.040

DO - 10.1016/j.ifacol.2019.01.040

M3 - Article

VL - 51

SP - 272

EP - 277

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 34

ER -