Motorized functional electrical stimulation for torque and cadence tracking: A switched Lyapunov approach

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

doi:10.1109/CDC.2017.8264552

Motorized functional electrical stimulation for torque and cadence tracking: A switched Lyapunov approach

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

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

15 Scopus citations

Abstract

Functional electrical stimulation (FES) is a rehabilitation technique in which an electric field is applied across a muscle group to induce muscle contractions to perform a functional task such as cycling. By combining FES with a motorized cycle, a switched system is created with multiple actuators (i.e., muscles and electric motor) as inputs, and multiple tracking objectives (i.e., position, cadence, and torque) can be accomplished. To examine the performance of the uncertain switched nonlinear system, a common Lyapunov function and a dwell-Time analysis are used to prove asymptotic position, cadence, and torque tracking to an ultimate bound. An auxiliary Lyapunov analysis is then generated to conclude that while position and cadence undergo exponential convergence, torque tracking is uniformly ultimate bounded.

Original language	English (US)
Title of host publication	2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5900-5905
Number of pages	6
Volume	2018-January
ISBN (Electronic)	9781509028733
DOIs	https://doi.org/10.1109/CDC.2017.8264552
State	Published - Jan 18 2018
Externally published	Yes
Event	56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia Duration: Dec 12 2017 → Dec 15 2017

Other

Other	56th IEEE Annual Conference on Decision and Control, CDC 2017
Country/Territory	Australia
City	Melbourne
Period	12/12/17 → 12/15/17

Keywords

Functional Electrical Stimulation (FES)
Lyapunov
Nonlinear Control
Rehabilitation Robot
Switched System
Torque Tracking

ASJC Scopus subject areas

Decision Sciences (miscellaneous)
Industrial and Manufacturing Engineering
Control and Optimization

Access to Document

10.1109/CDC.2017.8264552

Cite this

Cousin, C. A., Duenas, V., Rouse, C. A., & Dixon, W. E. (2018). Motorized functional electrical stimulation for torque and cadence tracking: A switched Lyapunov approach. In 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 (Vol. 2018-January, pp. 5900-5905). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2017.8264552

Motorized functional electrical stimulation for torque and cadence tracking : A switched Lyapunov approach. / Cousin, Christian A.; Duenas, Victor; Rouse, Courtney A. et al.

2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 5900-5905.

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

Cousin, CA, Duenas, V, Rouse, CA & Dixon, WE 2018, Motorized functional electrical stimulation for torque and cadence tracking: A switched Lyapunov approach. in 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 5900-5905, 56th IEEE Annual Conference on Decision and Control, CDC 2017, Melbourne, Australia, 12/12/17. https://doi.org/10.1109/CDC.2017.8264552

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abstract = "Functional electrical stimulation (FES) is a rehabilitation technique in which an electric field is applied across a muscle group to induce muscle contractions to perform a functional task such as cycling. By combining FES with a motorized cycle, a switched system is created with multiple actuators (i.e., muscles and electric motor) as inputs, and multiple tracking objectives (i.e., position, cadence, and torque) can be accomplished. To examine the performance of the uncertain switched nonlinear system, a common Lyapunov function and a dwell-Time analysis are used to prove asymptotic position, cadence, and torque tracking to an ultimate bound. An auxiliary Lyapunov analysis is then generated to conclude that while position and cadence undergo exponential convergence, torque tracking is uniformly ultimate bounded.",

keywords = "Functional Electrical Stimulation (FES), Lyapunov, Nonlinear Control, Rehabilitation Robot, Switched System, Torque Tracking",

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N2 - Functional electrical stimulation (FES) is a rehabilitation technique in which an electric field is applied across a muscle group to induce muscle contractions to perform a functional task such as cycling. By combining FES with a motorized cycle, a switched system is created with multiple actuators (i.e., muscles and electric motor) as inputs, and multiple tracking objectives (i.e., position, cadence, and torque) can be accomplished. To examine the performance of the uncertain switched nonlinear system, a common Lyapunov function and a dwell-Time analysis are used to prove asymptotic position, cadence, and torque tracking to an ultimate bound. An auxiliary Lyapunov analysis is then generated to conclude that while position and cadence undergo exponential convergence, torque tracking is uniformly ultimate bounded.

AB - Functional electrical stimulation (FES) is a rehabilitation technique in which an electric field is applied across a muscle group to induce muscle contractions to perform a functional task such as cycling. By combining FES with a motorized cycle, a switched system is created with multiple actuators (i.e., muscles and electric motor) as inputs, and multiple tracking objectives (i.e., position, cadence, and torque) can be accomplished. To examine the performance of the uncertain switched nonlinear system, a common Lyapunov function and a dwell-Time analysis are used to prove asymptotic position, cadence, and torque tracking to an ultimate bound. An auxiliary Lyapunov analysis is then generated to conclude that while position and cadence undergo exponential convergence, torque tracking is uniformly ultimate bounded.

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Motorized functional electrical stimulation for torque and cadence tracking: A switched Lyapunov approach

Abstract

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Keywords

ASJC Scopus subject areas

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