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

doi:10.23919/ACC.2018.8431750

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 proceeding › Conference 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 language	English (US)
Title of host publication	2018 Annual American Control Conference, ACC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3732-3737
Number of pages	6
ISBN (Print)	9781538654286
DOIs	https://doi.org/10.23919/ACC.2018.8431750
State	Published - Aug 9 2018
Event	2018 Annual American Control Conference, ACC 2018 - Milwauke, United States Duration: Jun 27 2018 → Jun 29 2018

Publication series

Name	Proceedings of the American Control Conference
Volume	2018-June
ISSN (Print)	0743-1619

Other

Other	2018 Annual American Control Conference, ACC 2018
Country	United States
City	Milwauke
Period	6/27/18 → 6/29/18

Keywords

Admittance
Functional Electrical Stimulation (FES)
Lyapunov
Passivity
Rehabilitation Robot

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.23919/ACC.2018.8431750

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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

Admittance Trajectory Tracking using a Challenge-Based Rehabilitation Robot with Functional Electrical Stimulation. / Cousin, Christian A.; Duenas, Victor H.; Rouse, Courtney A.; Dixon, Warren E.

2018 Annual American Control Conference, ACC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3732-3737 8431750 (Proceedings of the American Control Conference; Vol. 2018-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cousin, CA, Duenas, VH, Rouse, CA & Dixon, WE 2018, Admittance Trajectory Tracking using a Challenge-Based Rehabilitation Robot with Functional Electrical Stimulation. in 2018 Annual American Control Conference, ACC 2018., 8431750, Proceedings of the American Control Conference, vol. 2018-June, Institute of Electrical and Electronics Engineers Inc., pp. 3732-3737, 2018 Annual American Control Conference, ACC 2018, Milwauke, United States, 6/27/18. https://doi.org/10.23919/ACC.2018.8431750

Cousin CA, Duenas VH, Rouse CA, Dixon WE. Admittance Trajectory Tracking using a Challenge-Based Rehabilitation Robot with Functional Electrical Stimulation. In 2018 Annual American Control Conference, ACC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 3732-3737. 8431750. (Proceedings of the American Control Conference). https://doi.org/10.23919/ACC.2018.8431750

Cousin, Christian A. ; Duenas, Victor H. ; Rouse, Courtney A. ; Dixon, Warren E. / Admittance Trajectory Tracking using a Challenge-Based Rehabilitation Robot with Functional Electrical Stimulation. 2018 Annual American Control Conference, ACC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 3732-3737 (Proceedings of the American Control Conference).

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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.",

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