Search

This paper investigates a functional electrical stimulation (FES) cycling system on movement velocity tracking control of recumbent trike. The developed system is intended to run outdoors by trike with FES pedaling for rehabilitation. The control objective of the proposed controller is to make the movement velocity follow the desired velocity. FES trike and rider is modeled as an Euler Lagrange system by considering movement resistances, characteristics of the freewheel, and force direction of each lower limb’s four muscle groups. Stability of the developed controller is analyzed through Lyapunov-based methods.

This paper considers the control method for functional electrical stimulation (FES) alternate knee bending and stretching trike system that takes into account the running velocity in outdoor environments for rehabilitation for patients with a motor system disorder (e.g., spinal cord injury or Parkinson’s disease). The control objective of the proposed controller is to make the running velocity of the trike follow the desired one. FES trike and a rider are modeled by considering running resistances, characteristics of the freewheel, and force direction of each lower limb’s 2 muscle groups. Stability of the developed controller is analyzed through Lyapunov-based methods.

A cycling system using functional electrical stimulation (FES) provides effective rehabilitation for patients with neurological disorders. Designing a FES-based cycling system with antagonistic bilateral muscles and Repetitive learning controller (RLC) can reduce physical discomfort for patients. In addition, previous studies have shown that control measurements require human body parameters, and thus, it is difficult to make control measurements that correspond to individual users. Therefore, in this paper, we constructed the FES cycling system that considers the antagonistic biarticular muscles using RLC and a semi-global control law that does not require human body parameters The stability of the controller was determined in the Lyapunov's stability theorem, and the asymptotic stability was proved.