TY - GEN
T1 - Admittance Trajectory Tracking using a Challenge-Based Rehabilitation Robot with Functional Electrical Stimulation
AU - Cousin, Christian A.
AU - Duenas, Victor H.
AU - Rouse, Courtney A.
AU - Dixon, Warren E.
N1 - Funding Information:
*Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville FL 32611-6250, USA Email: {ccousin, vhduenas, courtneyarouse, wdixon}@ufl.edu This research is supported in part by the National Science Foundation Graduate Research Fellowship Program under Grant No. DGE-1315138 and AFOSR award number FA9550-18-1-0109. Any opinions, findings and conclusions, or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the sponsoring agency.
Publisher Copyright:
© 2018 AACC.
PY - 2018/8/9
Y1 - 2018/8/9
N2 - In an effort to combine two rehabilitation strategies, Functional Electrical Stimulation (FES) and robotic therapy, a rehabilitation robot was developed to challenge an arm during bicep curls elicited by closed-loop control of FES. The robot is designed to act as an admittance and its robust, sliding mode controller is proven to be passive with respect to the human. The FES controller utilizes a robust, sliding mode control design to then dominate the robot effects and obtain global exponential stability as demonstrated by a Lyapunov-based stability analysis. The two interacting controllers yield arm position and velocity regulation, where the robot challenges this movement with a desired admittance.
AB - In an effort to combine two rehabilitation strategies, Functional Electrical Stimulation (FES) and robotic therapy, a rehabilitation robot was developed to challenge an arm during bicep curls elicited by closed-loop control of FES. The robot is designed to act as an admittance and its robust, sliding mode controller is proven to be passive with respect to the human. The FES controller utilizes a robust, sliding mode control design to then dominate the robot effects and obtain global exponential stability as demonstrated by a Lyapunov-based stability analysis. The two interacting controllers yield arm position and velocity regulation, where the robot challenges this movement with a desired admittance.
KW - Admittance
KW - Functional Electrical Stimulation (FES)
KW - Lyapunov
KW - Passivity
KW - Rehabilitation Robot
UR - http://www.scopus.com/inward/record.url?scp=85052590040&partnerID=8YFLogxK
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U2 - 10.23919/ACC.2018.8431750
DO - 10.23919/ACC.2018.8431750
M3 - Conference contribution
AN - SCOPUS:85052590040
SN - 9781538654286
T3 - Proceedings of the American Control Conference
SP - 3732
EP - 3737
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 Annual American Control Conference, ACC 2018
Y2 - 27 June 2018 through 29 June 2018
ER -