Stable cadence tracking of admitting functional electrical stimulation cycle

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Rehabilitation robotics and functional electrical stimulation (FES) are two promising methods of rehabilitation for people with neurological disorders. In motorized FES cycling, both the rider and the motorized cycle must be controlled for cooperative human-machine interaction. While rehabilitation goals vary widely, FES cycling traditionally rejects rider disturbances to accomplish cadence and power tracking; however, this paper ensures that the cycle accommodates the rider without rejecting rider disturbances as a means to promote function and strength recovery while ensuring rider safety. A cadence and admittance controller are developed to activate the cycle’s electric motor and the rider’s leg muscles through FES when kinematically efficient. Using a single set of combined cycle-rider dynamics, a Lyapunov-like switched systems analysis is conducted to conclude global exponential cadence tracking. A subsequent passivity analysis is conducted to show the admittance controller is passive with respect to the rider. For a desired cadence of 50 RPM, preliminary experiments on one able-bodied participant and one participant with spina bifida demonstrate tracking errors of -0.07±2.59 RPM and -0.20±3.86 RPM, respectively.

Original languageEnglish (US)
Title of host publicationAdvances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791851890
DOIs
StatePublished - 2018
EventASME 2018 Dynamic Systems and Control Conference, DSCC 2018 - Atlanta, United States
Duration: Sep 30 2018Oct 3 2018

Publication series

NameASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Volume1

Other

OtherASME 2018 Dynamic Systems and Control Conference, DSCC 2018
CountryUnited States
CityAtlanta
Period9/30/1810/3/18

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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    Cousin, C. A., Duenas, V. H., Rouse, C. A., & Dixon, W. E. (2018). Stable cadence tracking of admitting functional electrical stimulation cycle. In Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018; Vol. 1). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2018-8989