TY - GEN
T1 - Cadence Tracking for Switched FES Cycling Combined with Voluntary Pedaling and Motor Resistance
AU - Rouse, Courtney A.
AU - Cousin, Christian A.
AU - Duenas, Victor H.
AU - Dixon, Warren E.
N1 - Funding Information:
*Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville FL 32611-6250, USA Email: {courtneyarouse, ccousin, vhduenas, wdixon}@ufl.edu This material is based upon work supported by the National Science Foundation Graduate Research Fellowship Program under Grant No. DGE-1315138. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.
PY - 2018/8/9
Y1 - 2018/8/9
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85052589864&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85052589864&partnerID=8YFLogxK
U2 - 10.23919/ACC.2018.8431044
DO - 10.23919/ACC.2018.8431044
M3 - Conference contribution
AN - SCOPUS:85052589864
SN - 9781538654286
T3 - Proceedings of the American Control Conference
SP - 4558
EP - 4563
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 Annual American Control Conference, ACC 2018
Y2 - 27 June 2018 through 29 June 2018
ER -