Switched Control of Cadence During Stationary Cycling Induced by Functional Electrical Stimulation

被引:40
作者
Bellman, Matthew J. [1 ]
Cheng, Teng-Hu [1 ]
Downey, Ryan J. [1 ]
Hass, Chris J. [2 ]
Dixon, Warren E. [1 ]
机构
[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA
[2] Univ Florida, Dept Appl Physiol & Kinesiol, Gainesville, FL 32611 USA
基金
美国国家科学基金会;
关键词
Functional electrical stimulation (FES); Lyapunov methods; medical control systems; switched control; EXERCISE; ERGOMETER; PARAPLEGICS; EFFICACY; SYSTEM; OUTPUT;
D O I
10.1109/TNSRE.2015.2500180
中图分类号
R318 [生物医学工程];
学科分类号
0831 ;
摘要
Functional electrical stimulation (FES) can be used to activate the dysfunctional lower limb muscles of individuals with neurological disorders to produce cycling as a means of rehabilitation. However, previous literature suggests that poor muscle control and nonphysiological muscle fiber recruitment during FES-cycling causes lower efficiency and power output at the cycle crank than able-bodied cycling, thus motivating the investigation of improved control methods for FES-cycling. In this paper, a stimulation pattern is designed based on the kinematic effectiveness of the rider's hip and knee joints to produce a forward torque about the cycle crank. A robust controller is designed for the uncertain, nonlinear cycle-rider system with autonomous, state-dependent switching. Provided sufficient conditions are satisfied, the switched controller yields ultimately bounded tracking of a desired cadence. Experimental results on four able-bodied subjects demonstrate cadence tracking errors of 0.05 +/- 1.59 and 5.27 +/- 2.14 revolutions per minute during volitional and FES-induced cycling, respectively. To establish feasibility of FES-assisted cycling in subjects with Parkinson's disease, experimental results with one subject demonstrate tracking errors of 0.43 +/- 4.06 and 0.17 +/- 3.11 revolutions per minute during volitional and FES-induced cycling, respectively.
引用
收藏
页码:1373 / 1383
页数:11
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