Admittance Trajectory Tracking using a Challenge-Based Rehabilitation Robot with Functional Electrical Stimulation

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

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.

Original languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3732-3737
Number of pages6
ISBN (Print)9781538654286
DOIs
StatePublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Publication series

NameProceedings of the American Control Conference
Volume2018-June
ISSN (Print)0743-1619

Other

Other2018 Annual American Control Conference, ACC 2018
CountryUnited States
CityMilwauke
Period6/27/186/29/18

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Cousin, C. A., Duenas, V. H., Rouse, C. A., & Dixon, W. E. (2018). Admittance Trajectory Tracking using a Challenge-Based Rehabilitation Robot with Functional Electrical Stimulation. In 2018 Annual American Control Conference, ACC 2018 (pp. 3732-3737). [8431750] (Proceedings of the American Control Conference; Vol. 2018-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2018.8431750