Switched motorized assistance during switched functional electrical stimulation of the biceps brachii to compensate for fatigue

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

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

2 Scopus citations

Abstract

Rehabilitation treatments for neurological conditions that result in movement disorders often include functional electrical stimulation (FES) to restore limb function and increase muscle strength. FES elicits muscle contractions to cause a specific movement, such as a biceps curl. Experimental evidence by the authors suggests that switching stimulation across multiple electrodes along the biceps brachii based on the resulting torque effectiveness results in more efficient movements. More repetitions are permitted before the muscle fatigues to a point that would terminate the therapy session. Rehabilitation robotics utilize motors to either assist or resist the user. In this paper, a robotic system is used for two objectives: To track the desired trajectory during biceps brachii extension and to provide assistance during flexion when the muscle fatigues. A switched controller is designed for the FES muscle input and for the motor input that accounts for muscle stimulation saturation. Both controllers are used to track a desired angular position trajectory of the forearm about the elbow. Global exponential tracking is proven using a common Lyapunov function. Experimental results demonstrate the tracking performance of the combined controllers.

Original languageEnglish (US)
Title of host publication2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5912-5918
Number of pages7
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

  • Human-in-The-loop control
  • Lyapunov methods
  • Switched systems

ASJC Scopus subject areas

  • Decision Sciences (miscellaneous)
  • Industrial and Manufacturing Engineering
  • Control and Optimization

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