TY - GEN
T1 - Motorized functional electrical stimulation for torque and cadence tracking
T2 - 56th IEEE Annual Conference on Decision and Control, CDC 2017
AU - Cousin, Christian A.
AU - Duenas, Victor H.
AU - Rouse, Courtney A.
AU - Dixon, Warren E.
N1 - Funding Information:
*Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville FL 32611-6250, USA Email: {ccousin, vhduenas, courtneyarouse, 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.
Publisher Copyright:
© 2017 IEEE.
PY - 2018/1/18
Y1 - 2018/1/18
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.
KW - Functional Electrical Stimulation (FES)
KW - Lyapunov
KW - Nonlinear Control
KW - Rehabilitation Robot
KW - Switched System
KW - Torque Tracking
UR - http://www.scopus.com/inward/record.url?scp=85046157746&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2017.8264552
DO - 10.1109/CDC.2017.8264552
M3 - Conference contribution
AN - SCOPUS:85046157746
T3 - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
SP - 5900
EP - 5905
BT - 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 12 December 2017 through 15 December 2017
ER -