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) |
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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 | |
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 |
Other
Other | 2017 International Conference on Rehabilitation Robotics, ICORR 2017 |
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Country | 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
- Electrical and Electronic Engineering
- Rehabilitation
- Medicine(all)