Abstract
A wide variation in muscle strength and range of motion exists in the movement disorder rehabilitation community. Functional Electrical Stimulation (FES) can be used to induce muscle contractions to assist a person who can contribute volitional coordinated torques. A motor can be used to both assist and resist a person's volitional and/or FES-induced pedaling. In this paper, a multi-level switched system is applied to a two-sided control objective to maintain a desired range of cadence using FES, motor assistance, motor resistance, and volitional pedaling. A system with assistive, passive, and resistive modes are developed based on cadence, each with a different combination of actuators. Lyapunov-based methods for switched systems are used to prove global exponential tracking to the desired cadence range for the combined FES-motor control system. Preliminary experiments show the feasibility and stability of the multi-level switched control system.
Original language | English (US) |
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Title of host publication | 2018 Annual American Control Conference, ACC 2018 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 4558-4563 |
Number of pages | 6 |
Volume | 2018-June |
ISBN (Print) | 9781538654286 |
DOIs | |
State | Published - Aug 9 2018 |
Externally published | Yes |
Event | 2018 Annual American Control Conference, ACC 2018 - Milwauke, United States Duration: Jun 27 2018 → Jun 29 2018 |
Other
Other | 2018 Annual American Control Conference, ACC 2018 |
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Country | United States |
City | Milwauke |
Period | 6/27/18 → 6/29/18 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering