@inproceedings{cda452e3be3f48cd897c68eaf4d07124,
title = "Admittance Trajectory Tracking using a Challenge-Based Rehabilitation Robot with Functional Electrical Stimulation",
abstract = "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.",
keywords = "Admittance, Functional Electrical Stimulation (FES), Lyapunov, Passivity, Rehabilitation Robot",
author = "Cousin, {Christian A.} and Duenas, {Victor H.} and Rouse, {Courtney A.} and Dixon, {Warren E.}",
year = "2018",
month = aug,
day = "9",
doi = "10.23919/ACC.2018.8431750",
language = "English (US)",
isbn = "9781538654286",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3732--3737",
booktitle = "2018 Annual American Control Conference, ACC 2018",
note = "2018 Annual American Control Conference, ACC 2018 ; Conference date: 27-06-2018 Through 29-06-2018",
}