Varying motor assistance during biceps curls induced via functional electrical stimulation

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

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

Abstract

Robot-assisted therapy has been established as a useful rehabilitation tool for motor recovery in people with various neurological impairments; however, balancing human and robot contribution, such that the target muscle is sufficiently exercised, is necessary to improve the outcome of rehabilitation protocols. Functional Electrical Stimulation (FES) can assist a person to move their limb by contracting the muscle; however, motor assistance is often necessary to accurately follow a desired limb trajectory, especially since stimulation can be limited due to various factors (e.g., subject comfort, stimulation saturation). In this paper, a motor is tasked with intermittently assisting the FES-activated biceps brachii in tracking a desired forearm trajectory whenever the FES input reaches a pre-set comfort threshold. A Lyapunov-like switched systems stability analysis is used to prove exponential stability of the human-robot system. Preliminary experiments demonstrate the feasibility and performance of the controller on two subjects with neurological impairments.

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)
Volume1
ISBN (Electronic)9780791851890
DOIs
StatePublished - Jan 1 2018
Externally publishedYes
EventASME 2018 Dynamic Systems and Control Conference, DSCC 2018 - Atlanta, United States
Duration: Sep 30 2018Oct 3 2018

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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  • Cite this

    Rouse, C. A., Cousin, C. A., Duenas, V., & Dixon, W. E. (2018). Varying motor assistance during biceps curls induced via functional electrical stimulation. 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 (Vol. 1). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2018-9083