Cadence Tracking for Switched FES Cycling Combined with Voluntary Pedaling and Motor Resistance
Cadence Tracking for Switched FES Cycling Combined with Voluntary Pedaling and Motor Resistance
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DOI：
10.23919/acc.2018.8431044
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
Courtney A. Rouse;Christian A. Cousin;Victor H. Duenas;W. Dixon
中科院分区：
文献类型：
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作者：
Courtney A. Rouse;Christian A. Cousin;Victor H. Duenas;W. Dixon
在运动障碍康复社区中，肌肉力量和运动范围存在很大差异。功能性电刺激（FES）可用于诱导肌肉收缩，以帮助能够贡献意志协调扭矩的人。马达可用于辅助和抵抗人的意志和/或FES诱导的踩踏。在本文中，一个多层次的切换系统应用到一个双边的控制目标，以保持一个理想的范围内的节奏使用FES，电机辅助，电机电阻，和意志踏板。一个系统的辅助，被动和电阻模式的基础上开发的节奏，每一个不同的组合的致动器。基于李雅普诺夫切换系统的方法被用来证明全球指数跟踪到所需的节奏范围内的组合FES电机控制系统。初步实验表明了多级切换控制系统的可行性和稳定性。
A wide variation in muscle strength and range of motion exists in the movement disorder rehabilitation community. Functional Electrical Stimulation (FES) can be used to induce muscle contractions to assist a person who can contribute volitional coordinated torques. A motor can be used to both assist and resist a person's volitional and/or FES-induced pedaling. In this paper, a multi-level switched system is applied to a two-sided control objective to maintain a desired range of cadence using FES, motor assistance, motor resistance, and volitional pedaling. A system with assistive, passive, and resistive modes are developed based on cadence, each with a different combination of actuators. Lyapunov-based methods for switched systems are used to prove global exponential tracking to the desired cadence range for the combined FES-motor control system. Preliminary experiments show the feasibility and stability of the multi-level switched control system.