Switched Control of Cadence During Stationary Cycling Induced by Functional Electrical Stimulation
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 recruitmen...
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| Published in | IEEE transactions on neural systems and rehabilitation engineering Vol. 24; no. 12; pp. 1373 - 1383 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
United States
IEEE
01.12.2016
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1534-4320 1558-0210 |
| DOI | 10.1109/TNSRE.2015.2500180 |
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| Abstract | 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. |
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| AbstractList | 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[Formula Omitted]1.59 and 5.27[Formula Omitted]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[Formula Omitted]4.06 and 0.17[Formula Omitted]3.11 revolutions per minute during volitional and FES-induced cycling, respectively. 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. 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. |
| Author | Hass, Chris J. Cheng, Teng-Hu Downey, Ryan J. Dixon, Warren E. Bellman, Matthew J. |
| Author_xml | – sequence: 1 givenname: Matthew J. surname: Bellman fullname: Bellman, Matthew J. email: mattjo@ufl.edu organization: Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA – sequence: 2 givenname: Teng-Hu surname: Cheng fullname: Cheng, Teng-Hu email: tenghu@ufl.edu organization: Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA – sequence: 3 givenname: Ryan J. surname: Downey fullname: Downey, Ryan J. email: ryan2318@ufl.edu organization: Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA – sequence: 4 givenname: Chris J. surname: Hass fullname: Hass, Chris J. email: cjhass@hhp.ufl.edu organization: Department of Applied Physiology and Kinesiology, University of Florida, Gainesville, FL, USA – sequence: 5 givenname: Warren E. surname: Dixon fullname: Dixon, Warren E. email: wdixon@ufl.edu organization: Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL, USA |
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| SubjectTerms | Adult Bicycling Computer Simulation Control systems Electric Stimulation Therapy - methods Electrical stimulation Electrical stimuli Feasibility studies Functional electrical stimulation (FES) Hip Hip Joint - physiopathology Humans Knee Knee Joint - physiopathology Lyapunov methods Male medical control systems Models, Biological Movement disorders Movement Disorders - physiopathology Movement Disorders - rehabilitation Muscle Contraction Muscle, Skeletal - physiopathology Muscles Neurodegenerative diseases Neurological diseases Neuromuscular stimulation Parkinson's disease Physical Exertion Rehabilitation switched control Switched systems Therapy, Computer-Assisted - methods Torque |
| Title | Switched Control of Cadence During Stationary Cycling Induced by Functional Electrical Stimulation |
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