Varying motor assistance during biceps curls induced via functional electrical stimulation

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

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

3 Scopus citations


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)
ISBN (Electronic)9780791851890
StatePublished - 2018
Externally publishedYes
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


OtherASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Country/TerritoryUnited States

ASJC Scopus subject areas

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


Dive into the research topics of 'Varying motor assistance during biceps curls induced via functional electrical stimulation'. Together they form a unique fingerprint.

Cite this