Position and torque control via rehabilitation robot and functional electrical stimulation

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

doi:10.1109/ICORR.2017.8009218

Position and torque control via rehabilitation robot and functional electrical stimulation

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

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

9 Scopus citations

Abstract

Two common rehabilitation therapies for individuals possessing neurological conditions are functional electrical stimulation (FES) and robotic assistance. This paper focuses on combining the two rehabilitation strategies for use on the biceps brachii muscle group. FES is used to elicit muscle contractions to actuate the forearm and a rehabilitation robot is used to challenge the muscle group in its efforts. Two controllers were developed and implemented to accomplish the multifaceted objective, both of which achieve global exponential stability for position and torque tracking as proven through a Lyapunov stability analysis. Experiments performed on one able bodied individual demonstrate an average RMS error of 5.8 degrees for position tracking and 0.40 Newton-meters for torque tracking.

Original language	English (US)
Title of host publication	2017 International Conference on Rehabilitation Robotics, ICORR 2017
Editors	Arash Ajoudani, Panagiotis Artemiadis, Philipp Beckerle, Giorgio Grioli, Olivier Lambercy, Katja Mombaur, Domen Novak, Georg Rauter, Carlos Rodriguez Guerrero, Gionata Salvietti, Farshid Amirabdollahian, Sivakumar Balasubramanian, Claudio Castellini, Giovanni Di Pino, Zhao Guo, Charmayne Hughes, Fumiya Iida, Tommaso Lenzi, Emanuele Ruffaldi, Fabrizio Sergi, Gim Song Soh, Marco Caimmi, Leonardo Cappello, Raffaella Carloni, Tom Carlson, Maura Casadio, Martina Coscia, Dalia De Santis, Arturo Forner-Cordero, Matthew Howard, Davide Piovesan, Adriano Siqueira, Frank Sup, Masia Lorenzo, Manuel Giuseppe Catalano, Hyunglae Lee, Carlo Menon, Stanisa Raspopovic, Mo Rastgaar, Renaud Ronsse, Edwin van Asseldonk, Bram Vanderborght, Madhusudhan Venkadesan, Matteo Bianchi, David Braun, Sasha Blue Godfrey, Fulvio Mastrogiovanni, Andrew McDaid, Stefano Rossi, Jacopo Zenzeri, Domenico Formica, Nikolaos Karavas, Laura Marchal-Crespo, Kyle B. Reed, Nevio Luigi Tagliamonte, Etienne Burdet, Angelo Basteris, Domenico Campolo, Ashish Deshpande, Venketesh Dubey, Asif Hussain, Vittorio Sanguineti, Ramazan Unal, Glauco Augusto de Paula Caurin, Yasuharu Koike, Stefano Mazzoleni, Hyung-Soon Park, C. David Remy, Ludovic Saint-Bauzel, Nikos Tsagarakis, Jan Veneman, Wenlong Zhang
Publisher	IEEE Computer Society
Pages	38-43
Number of pages	6
ISBN (Electronic)	9781538622964
DOIs	https://doi.org/10.1109/ICORR.2017.8009218
State	Published - Aug 11 2017
Externally published	Yes
Event	2017 International Conference on Rehabilitation Robotics, ICORR 2017 - London, United Kingdom Duration: Jul 17 2017 → Jul 20 2017

Publication series

Name	IEEE International Conference on Rehabilitation Robotics
ISSN (Print)	1945-7898
ISSN (Electronic)	1945-7901

Other

Other	2017 International Conference on Rehabilitation Robotics, ICORR 2017
Country/Territory	United Kingdom
City	London
Period	7/17/17 → 7/20/17

Keywords

Functional Electrical Stimulation (FES)
Lyapunov
Rehabilitation Robot
Stiffness Controller
Torque Tracking

ASJC Scopus subject areas

Control and Systems Engineering
Rehabilitation
Electrical and Electronic Engineering

Access to Document

10.1109/ICORR.2017.8009218

Cite this

Cousin, C. A., Rouse, C. A., Duenas, V. H., & Dixon, W. E. (2017). Position and torque control via rehabilitation robot and functional electrical stimulation. In A. Ajoudani, P. Artemiadis, P. Beckerle, G. Grioli, O. Lambercy, K. Mombaur, D. Novak, G. Rauter, C. Rodriguez Guerrero, G. Salvietti, F. Amirabdollahian, S. Balasubramanian, C. Castellini, G. Di Pino, Z. Guo, C. Hughes, F. Iida, T. Lenzi, E. Ruffaldi, F. Sergi, G. S. Soh, M. Caimmi, L. Cappello, R. Carloni, T. Carlson, M. Casadio, M. Coscia, D. De Santis, A. Forner-Cordero, M. Howard, D. Piovesan, A. Siqueira, F. Sup, M. Lorenzo, M. G. Catalano, H. Lee, C. Menon, S. Raspopovic, M. Rastgaar, R. Ronsse, E. van Asseldonk, B. Vanderborght, M. Venkadesan, M. Bianchi, D. Braun, S. B. Godfrey, F. Mastrogiovanni, A. McDaid, S. Rossi, J. Zenzeri, D. Formica, N. Karavas, L. Marchal-Crespo, K. B. Reed, N. L. Tagliamonte, E. Burdet, A. Basteris, D. Campolo, A. Deshpande, V. Dubey, A. Hussain, V. Sanguineti, R. Unal, G. A. D. P. Caurin, Y. Koike, S. Mazzoleni, H-S. Park, C. D. Remy, L. Saint-Bauzel, N. Tsagarakis, J. Veneman, ... W. Zhang (Eds.), 2017 International Conference on Rehabilitation Robotics, ICORR 2017 (pp. 38-43). [8009218] (IEEE International Conference on Rehabilitation Robotics). IEEE Computer Society. https://doi.org/10.1109/ICORR.2017.8009218

Position and torque control via rehabilitation robot and functional electrical stimulation. / Cousin, Christian A.; Rouse, Courtney A.; Duenas, Victor H. et al.

2017 International Conference on Rehabilitation Robotics, ICORR 2017. ed. / Arash Ajoudani; Panagiotis Artemiadis; Philipp Beckerle; Giorgio Grioli; Olivier Lambercy; Katja Mombaur; Domen Novak; Georg Rauter; Carlos Rodriguez Guerrero; Gionata Salvietti; Farshid Amirabdollahian; Sivakumar Balasubramanian; Claudio Castellini; Giovanni Di Pino; Zhao Guo; Charmayne Hughes; Fumiya Iida; Tommaso Lenzi; Emanuele Ruffaldi; Fabrizio Sergi; Gim Song Soh; Marco Caimmi; Leonardo Cappello; Raffaella Carloni; Tom Carlson; Maura Casadio; Martina Coscia; Dalia De Santis; Arturo Forner-Cordero; Matthew Howard; Davide Piovesan; Adriano Siqueira; Frank Sup; Masia Lorenzo; Manuel Giuseppe Catalano; Hyunglae Lee; Carlo Menon; Stanisa Raspopovic; Mo Rastgaar; Renaud Ronsse; Edwin van Asseldonk; Bram Vanderborght; Madhusudhan Venkadesan; Matteo Bianchi; David Braun; Sasha Blue Godfrey; Fulvio Mastrogiovanni; Andrew McDaid; Stefano Rossi; Jacopo Zenzeri; Domenico Formica; Nikolaos Karavas; Laura Marchal-Crespo; Kyle B. Reed; Nevio Luigi Tagliamonte; Etienne Burdet; Angelo Basteris; Domenico Campolo; Ashish Deshpande; Venketesh Dubey; Asif Hussain; Vittorio Sanguineti; Ramazan Unal; Glauco Augusto de Paula Caurin; Yasuharu Koike; Stefano Mazzoleni; Hyung-Soon Park; C. David Remy; Ludovic Saint-Bauzel; Nikos Tsagarakis; Jan Veneman; Wenlong Zhang. IEEE Computer Society, 2017. p. 38-43 8009218 (IEEE International Conference on Rehabilitation Robotics).

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

Cousin, CA, Rouse, CA, Duenas, VH & Dixon, WE 2017, Position and torque control via rehabilitation robot and functional electrical stimulation. in A Ajoudani, P Artemiadis, P Beckerle, G Grioli, O Lambercy, K Mombaur, D Novak, G Rauter, C Rodriguez Guerrero, G Salvietti, F Amirabdollahian, S Balasubramanian, C Castellini, G Di Pino, Z Guo, C Hughes, F Iida, T Lenzi, E Ruffaldi, F Sergi, GS Soh, M Caimmi, L Cappello, R Carloni, T Carlson, M Casadio, M Coscia, D De Santis, A Forner-Cordero, M Howard, D Piovesan, A Siqueira, F Sup, M Lorenzo, MG Catalano, H Lee, C Menon, S Raspopovic, M Rastgaar, R Ronsse, E van Asseldonk, B Vanderborght, M Venkadesan, M Bianchi, D Braun, SB Godfrey, F Mastrogiovanni, A McDaid, S Rossi, J Zenzeri, D Formica, N Karavas, L Marchal-Crespo, KB Reed, NL Tagliamonte, E Burdet, A Basteris, D Campolo, A Deshpande, V Dubey, A Hussain, V Sanguineti, R Unal, GADP Caurin, Y Koike, S Mazzoleni, H-S Park, CD Remy, L Saint-Bauzel, N Tsagarakis, J Veneman & W Zhang (eds), 2017 International Conference on Rehabilitation Robotics, ICORR 2017., 8009218, IEEE International Conference on Rehabilitation Robotics, IEEE Computer Society, pp. 38-43, 2017 International Conference on Rehabilitation Robotics, ICORR 2017, London, United Kingdom, 7/17/17. https://doi.org/10.1109/ICORR.2017.8009218

Cousin CA, Rouse CA, Duenas VH, Dixon WE. Position and torque control via rehabilitation robot and functional electrical stimulation. In Ajoudani A, Artemiadis P, Beckerle P, Grioli G, Lambercy O, Mombaur K, Novak D, Rauter G, Rodriguez Guerrero C, Salvietti G, Amirabdollahian F, Balasubramanian S, Castellini C, Di Pino G, Guo Z, Hughes C, Iida F, Lenzi T, Ruffaldi E, Sergi F, Soh GS, Caimmi M, Cappello L, Carloni R, Carlson T, Casadio M, Coscia M, De Santis D, Forner-Cordero A, Howard M, Piovesan D, Siqueira A, Sup F, Lorenzo M, Catalano MG, Lee H, Menon C, Raspopovic S, Rastgaar M, Ronsse R, van Asseldonk E, Vanderborght B, Venkadesan M, Bianchi M, Braun D, Godfrey SB, Mastrogiovanni F, McDaid A, Rossi S, Zenzeri J, Formica D, Karavas N, Marchal-Crespo L, Reed KB, Tagliamonte NL, Burdet E, Basteris A, Campolo D, Deshpande A, Dubey V, Hussain A, Sanguineti V, Unal R, Caurin GADP, Koike Y, Mazzoleni S, Park H-S, Remy CD, Saint-Bauzel L, Tsagarakis N, Veneman J, Zhang W, editors, 2017 International Conference on Rehabilitation Robotics, ICORR 2017. IEEE Computer Society. 2017. p. 38-43. 8009218. (IEEE International Conference on Rehabilitation Robotics). doi: 10.1109/ICORR.2017.8009218

Cousin, Christian A. ; Rouse, Courtney A. ; Duenas, Victor H. et al. / Position and torque control via rehabilitation robot and functional electrical stimulation. 2017 International Conference on Rehabilitation Robotics, ICORR 2017. editor / Arash Ajoudani ; Panagiotis Artemiadis ; Philipp Beckerle ; Giorgio Grioli ; Olivier Lambercy ; Katja Mombaur ; Domen Novak ; Georg Rauter ; Carlos Rodriguez Guerrero ; Gionata Salvietti ; Farshid Amirabdollahian ; Sivakumar Balasubramanian ; Claudio Castellini ; Giovanni Di Pino ; Zhao Guo ; Charmayne Hughes ; Fumiya Iida ; Tommaso Lenzi ; Emanuele Ruffaldi ; Fabrizio Sergi ; Gim Song Soh ; Marco Caimmi ; Leonardo Cappello ; Raffaella Carloni ; Tom Carlson ; Maura Casadio ; Martina Coscia ; Dalia De Santis ; Arturo Forner-Cordero ; Matthew Howard ; Davide Piovesan ; Adriano Siqueira ; Frank Sup ; Masia Lorenzo ; Manuel Giuseppe Catalano ; Hyunglae Lee ; Carlo Menon ; Stanisa Raspopovic ; Mo Rastgaar ; Renaud Ronsse ; Edwin van Asseldonk ; Bram Vanderborght ; Madhusudhan Venkadesan ; Matteo Bianchi ; David Braun ; Sasha Blue Godfrey ; Fulvio Mastrogiovanni ; Andrew McDaid ; Stefano Rossi ; Jacopo Zenzeri ; Domenico Formica ; Nikolaos Karavas ; Laura Marchal-Crespo ; Kyle B. Reed ; Nevio Luigi Tagliamonte ; Etienne Burdet ; Angelo Basteris ; Domenico Campolo ; Ashish Deshpande ; Venketesh Dubey ; Asif Hussain ; Vittorio Sanguineti ; Ramazan Unal ; Glauco Augusto de Paula Caurin ; Yasuharu Koike ; Stefano Mazzoleni ; Hyung-Soon Park ; C. David Remy ; Ludovic Saint-Bauzel ; Nikos Tsagarakis ; Jan Veneman ; Wenlong Zhang. IEEE Computer Society, 2017. pp. 38-43 (IEEE International Conference on Rehabilitation Robotics).

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title = "Position and torque control via rehabilitation robot and functional electrical stimulation",

abstract = "Two common rehabilitation therapies for individuals possessing neurological conditions are functional electrical stimulation (FES) and robotic assistance. This paper focuses on combining the two rehabilitation strategies for use on the biceps brachii muscle group. FES is used to elicit muscle contractions to actuate the forearm and a rehabilitation robot is used to challenge the muscle group in its efforts. Two controllers were developed and implemented to accomplish the multifaceted objective, both of which achieve global exponential stability for position and torque tracking as proven through a Lyapunov stability analysis. Experiments performed on one able bodied individual demonstrate an average RMS error of 5.8 degrees for position tracking and 0.40 Newton-meters for torque tracking.",

keywords = "Functional Electrical Stimulation (FES), Lyapunov, Rehabilitation Robot, Stiffness Controller, Torque Tracking",

author = "Cousin, {Christian A.} and Rouse, {Courtney A.} and Duenas, {Victor H.} and Dixon, {Warren E.}",

note = "Funding Information: *Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville FL 32611-6250, USA Email: {ccousin, courtneyarouse, vhduenas, 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: {\textcopyright} 2017 IEEE.; 2017 International Conference on Rehabilitation Robotics, ICORR 2017 ; Conference date: 17-07-2017 Through 20-07-2017",

year = "2017",

month = aug,

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doi = "10.1109/ICORR.2017.8009218",

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AU - Cousin, Christian A.

AU - Rouse, Courtney A.

AU - Duenas, Victor H.

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N1 - Funding Information: *Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville FL 32611-6250, USA Email: {ccousin, courtneyarouse, vhduenas, 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.

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Y1 - 2017/8/11

N2 - Two common rehabilitation therapies for individuals possessing neurological conditions are functional electrical stimulation (FES) and robotic assistance. This paper focuses on combining the two rehabilitation strategies for use on the biceps brachii muscle group. FES is used to elicit muscle contractions to actuate the forearm and a rehabilitation robot is used to challenge the muscle group in its efforts. Two controllers were developed and implemented to accomplish the multifaceted objective, both of which achieve global exponential stability for position and torque tracking as proven through a Lyapunov stability analysis. Experiments performed on one able bodied individual demonstrate an average RMS error of 5.8 degrees for position tracking and 0.40 Newton-meters for torque tracking.

AB - Two common rehabilitation therapies for individuals possessing neurological conditions are functional electrical stimulation (FES) and robotic assistance. This paper focuses on combining the two rehabilitation strategies for use on the biceps brachii muscle group. FES is used to elicit muscle contractions to actuate the forearm and a rehabilitation robot is used to challenge the muscle group in its efforts. Two controllers were developed and implemented to accomplish the multifaceted objective, both of which achieve global exponential stability for position and torque tracking as proven through a Lyapunov stability analysis. Experiments performed on one able bodied individual demonstrate an average RMS error of 5.8 degrees for position tracking and 0.40 Newton-meters for torque tracking.

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KW - Lyapunov

KW - Rehabilitation Robot

KW - Stiffness Controller

KW - Torque Tracking

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A2 - Ajoudani, Arash

A2 - Artemiadis, Panagiotis

A2 - Beckerle, Philipp

A2 - Grioli, Giorgio

A2 - Lambercy, Olivier

A2 - Mombaur, Katja

A2 - Novak, Domen

A2 - Rauter, Georg

A2 - Rodriguez Guerrero, Carlos

A2 - Salvietti, Gionata

A2 - Amirabdollahian, Farshid

A2 - Balasubramanian, Sivakumar

A2 - Castellini, Claudio

A2 - Di Pino, Giovanni

A2 - Guo, Zhao

A2 - Hughes, Charmayne

A2 - Iida, Fumiya

A2 - Lenzi, Tommaso

A2 - Ruffaldi, Emanuele

A2 - Sergi, Fabrizio

A2 - Soh, Gim Song

A2 - Caimmi, Marco

A2 - Cappello, Leonardo

A2 - Carloni, Raffaella

A2 - Carlson, Tom

A2 - Casadio, Maura

A2 - Coscia, Martina

A2 - De Santis, Dalia

A2 - Forner-Cordero, Arturo

A2 - Howard, Matthew

A2 - Piovesan, Davide

A2 - Siqueira, Adriano

A2 - Sup, Frank

A2 - Lorenzo, Masia

A2 - Catalano, Manuel Giuseppe

A2 - Lee, Hyunglae

A2 - Menon, Carlo

A2 - Raspopovic, Stanisa

A2 - Rastgaar, Mo

A2 - Ronsse, Renaud

A2 - van Asseldonk, Edwin

A2 - Vanderborght, Bram

A2 - Venkadesan, Madhusudhan

A2 - Bianchi, Matteo

A2 - Braun, David

A2 - Godfrey, Sasha Blue

A2 - Mastrogiovanni, Fulvio

A2 - McDaid, Andrew

A2 - Rossi, Stefano

A2 - Zenzeri, Jacopo

A2 - Formica, Domenico

A2 - Karavas, Nikolaos

A2 - Marchal-Crespo, Laura

A2 - Reed, Kyle B.

A2 - Tagliamonte, Nevio Luigi

A2 - Burdet, Etienne

A2 - Basteris, Angelo

A2 - Campolo, Domenico

A2 - Deshpande, Ashish

A2 - Dubey, Venketesh

A2 - Hussain, Asif

A2 - Sanguineti, Vittorio

A2 - Unal, Ramazan

A2 - Caurin, Glauco Augusto de Paula

A2 - Koike, Yasuharu

A2 - Mazzoleni, Stefano

A2 - Park, Hyung-Soon

A2 - Remy, C. David

A2 - Saint-Bauzel, Ludovic

A2 - Tsagarakis, Nikos

A2 - Veneman, Jan

A2 - Zhang, Wenlong

PB - IEEE Computer Society

T2 - 2017 International Conference on Rehabilitation Robotics, ICORR 2017

Y2 - 17 July 2017 through 20 July 2017

ER -

Position and torque control via rehabilitation robot and functional electrical stimulation

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