Closed-Loop Position and Cadence Tracking Control for FES-Cycling Exploiting Pedal Force Direction With Antagonistic Biarticular Muscles
Closed-Loop Position and Cadence Tracking Control for FES-Cycling Exploiting Pedal Force Direction With Antagonistic Biarticular Muscles
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DOI：
10.1109/tcst.2017.2771727
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发表时间：
2019-03-01
影响因子：
4.8
通讯作者：
Dixon, Warren E.
中科院分区：
文献类型：
--
作者：
Kawai, Hiroyuki;Bellman, Matthew J.;Dixon, Warren E.
开发了一种基于功能性电刺激（FES）的位置和节奏跟踪控制器，以通过利用拮抗性双关节肌肉来实现骑自行车。一个固定周期和骑手的模型被开发为一个闭链机构。然后开发一种策略，根据每个肌肉群的力方向在肌肉群之间切换。通过基于李亚普诺夫的方法分析了所开发控制器的稳定性。在七个健康个体和一个患有帕金森病的个体中进行实验，以说明所开发的方法的性能。具体而言，所开发的方法进行了比较，自愿跟踪的位置和速度跟踪误差。实验结果表明，该方法可以实现接近自主跟踪的FES循环。
A functional electrical stimulation (FES)-based position and cadence tracking controller is developed to enable cycling by exploiting antagonistic biarticular muscles. A model of a stationary cycle and a rider is developed as a closed-chain mechanism. A strategy is then developed to switch between muscle groups based on the force direction of each muscle group. Stability of the developed controller is analyzed through Lyapunov-based methods. Experiments were conducted in seven healthy individuals and one individual with Parkinson's disease to illustrate the performance of the developed method. Specifically, the developed method was compared with voluntary tracking in terms of the position and velocity tracking errors. From the experimental results, we conclude that the proposed method can realize FES-cycling close to voluntary tracking.