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 proceedingConference contribution

9 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 languageEnglish (US)
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5900-5905
Number of pages6
Volume2018-January
ISBN (Electronic)9781509028733
DOIs
StatePublished - Jan 18 2018
Externally publishedYes
Event56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia
Duration: Dec 12 2017Dec 15 2017

Other

Other56th IEEE Annual Conference on Decision and Control, CDC 2017
CountryAustralia
CityMelbourne
Period12/12/1712/15/17

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

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  • 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