Controlling the Cadence and Admittance of a Functional Electrical Stimulation Cycle
Controlling the Cadence and Admittance of a Functional Electrical Stimulation Cycle
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DOI：
10.1109/tnsre.2019.2914579
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发表时间：
2019-06-01
影响因子：
4.9
通讯作者：
Dixon, Warren E.
中科院分区：
文献类型：
--
作者：
Cousin, Christian A.;Rouse, Courtney A.;Dixon, Warren E.
对于患有神经系统疾病的个体，如脊髓损伤、创伤性脑损伤或中风，电动功能性电刺激（FES）骑行是一种康复策略，它提供了许多健康益处。电动FES循环是物理人机交互的一个例子，其中两个系统都必须受到控制；人体是通过对腿部大肌肉群施加神经肌肉电刺激来驱动的，而这个循环是通过其机载电动机来驱动的。当骑乘器使用鲁棒滑模控制器进行刺激时，循环使用导纳控制器来保护骑乘器的安全。通过类李雅普诺夫切换系统的稳定性分析，表明导纳控制器相对于骑手是被动的，节奏控制器是全局指数稳定的。在3名健全参与者和4名神经系统疾病参与者身上进行了实验，以验证所开发的控制器的有效性，并研究了操纵个体导纳参数的效果。结果表明，健全参与者的平均导纳节奏误差为-0.06 +/- 1.47 RPM， nc参与者的平均导纳节奏误差为-0.02 +/- 0.93 RPM。
For an individual suffering from a neurological condition, such as spinal cord injury, traumatic brain injury, or stroke, motorized functional electrical stimulation (FES) cycling is a rehabilitation strategy, which offers numerous health benefits. Motorized FES cycling is an example of physical human-robot interaction in which both systems must be controlled; the human is actuated by applying neuromuscular electrical stimulation to the large leg muscle groups, and the cycle is actuated through its onboard electric motor. While the rider is stimulated using a robust sliding-mode controller, the cycle utilizes an admittance controller to preserve rider safety. The admittance controller is shown to be passive with respect to the rider, and the cadence controller is shown to be globally exponentially stable through a Lyapunov-like switched systems stability analysis. Experiments are conducted on three able-bodied participants and four participants with neurological conditions (NCs) to demonstrate the efficacy of the developed controller and investigate the effect of manipulating individual admittance parameters. Results demonstrate an average admittance cadence error of -0.06 +/- 1.47 RPM for able-bodied participants and -0.02 +/- 0.93 RPM for participants with NCs.