Cadence Tracking for Switched FES Cycling Combined with Voluntary Pedaling and Motor Resistance

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

doi:10.23919/ACC.2018.8431044

Cadence Tracking for Switched FES Cycling Combined with Voluntary Pedaling and Motor Resistance

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

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

6 Scopus citations

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)
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	https://doi.org/10.23919/ACC.2018.8431044
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
Country	United States
City	Milwauke
Period	6/27/18 → 6/29/18

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.23919/ACC.2018.8431044

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Cite this

Cadence Tracking for Switched FES Cycling Combined with Voluntary Pedaling and Motor Resistance. / Rouse, Courtney A.; Cousin, Christian A.; Duenas, Victor; Dixon, Warren E.

2018 Annual American Control Conference, ACC 2018. Vol. 2018-June Institute of Electrical and Electronics Engineers Inc., 2018. p. 4558-4563 8431044.

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

Rouse, CA, Cousin, CA, Duenas, V & Dixon, WE 2018, Cadence Tracking for Switched FES Cycling Combined with Voluntary Pedaling and Motor Resistance. in 2018 Annual American Control Conference, ACC 2018. vol. 2018-June, 8431044, Institute of Electrical and Electronics Engineers Inc., pp. 4558-4563, 2018 Annual American Control Conference, ACC 2018, Milwauke, United States, 6/27/18. https://doi.org/10.23919/ACC.2018.8431044

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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.",

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