Cadence and Admittance Control of a Motorized Functional Electrical Stimulation Cycle

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

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

3 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6470-6475
Number of pages6
ISBN (Electronic)9781538613955
DOIs
StatePublished - Jan 18 2019
Externally publishedYes
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: Dec 17 2018Dec 19 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2018-December
ISSN (Print)0743-1546

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
CountryUnited States
CityMiami
Period12/17/1812/19/18

Keywords

  • Admittance
  • Functional Electrical Stimulation (FES)
  • Lyapunov
  • Nonlinear
  • Rehabilitation
  • Switched System

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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    Cousin, C. A., Duenas, V., Rouse, C. A., & Dixon, W. E. (2019). Cadence and Admittance Control of a Motorized Functional Electrical Stimulation Cycle. In 2018 IEEE Conference on Decision and Control, CDC 2018 (pp. 6470-6475). [8618685] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2018.8618685