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 proceedingConference contribution

5 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 languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4558-4563
Number of pages6
Volume2018-June
ISBN (Print)9781538654286
DOIs
StatePublished - Aug 9 2018
Externally publishedYes
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Other

Other2018 Annual American Control Conference, ACC 2018
CountryUnited States
CityMilwauke
Period6/27/186/29/18

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Rouse, C. A., Cousin, C. A., Duenas, V., & Dixon, W. E. (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, pp. 4558-4563). [8431044] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2018.8431044