TY - GEN
T1 - Cadence and Admittance Control of a Motorized Functional Electrical Stimulation Cycle
AU - Cousin, Christian A.
AU - Duenas, Victor H.
AU - Rouse, Courtney A.
AU - Dixon, Warren E.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - Functional electrical stimulation (FES) can be combined with a motorized cycle to offer various rehabilitation options for individuals with neurological conditions. Typically, FES cycling controllers use cooperating muscles and an electric motor to track cadence. In this paper, in addition to cooperative cadence tracking, the motorized cycle tracks an admittance trajectory generated using torque feedback. This method allows the cycle to deviate from the desired cadence trajectory and admit to the rider-applied torque, ensuring safe human-machine interaction. Two sets of uncertain, nonlinear dynamics are presented, one for the human rider and one for the robot, linked by a common measurable interaction torque. After developing cadence and admittance controllers, a Lyapunov-like switched system stability analysis is provided to prove global exponential tracking of the cadence error system, and a passivity analysis is conducted to prove passivity of the cycle's admittance controller with respect to the rider's interaction torque.
AB - Functional electrical stimulation (FES) can be combined with a motorized cycle to offer various rehabilitation options for individuals with neurological conditions. Typically, FES cycling controllers use cooperating muscles and an electric motor to track cadence. In this paper, in addition to cooperative cadence tracking, the motorized cycle tracks an admittance trajectory generated using torque feedback. This method allows the cycle to deviate from the desired cadence trajectory and admit to the rider-applied torque, ensuring safe human-machine interaction. Two sets of uncertain, nonlinear dynamics are presented, one for the human rider and one for the robot, linked by a common measurable interaction torque. After developing cadence and admittance controllers, a Lyapunov-like switched system stability analysis is provided to prove global exponential tracking of the cadence error system, and a passivity analysis is conducted to prove passivity of the cycle's admittance controller with respect to the rider's interaction torque.
KW - Admittance
KW - Functional Electrical Stimulation (FES)
KW - Lyapunov
KW - Nonlinear
KW - Rehabilitation
KW - Switched System
UR - http://www.scopus.com/inward/record.url?scp=85062166321&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85062166321&partnerID=8YFLogxK
U2 - 10.1109/CDC.2018.8618685
DO - 10.1109/CDC.2018.8618685
M3 - Conference contribution
AN - SCOPUS:85062166321
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6470
EP - 6475
BT - 2018 IEEE Conference on Decision and Control, CDC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 57th IEEE Conference on Decision and Control, CDC 2018
Y2 - 17 December 2018 through 19 December 2018
ER -