Cadence control of stationary cycling induced by switched functional electrical stimulation control

M. J. Bellman, Teng-Hu Cheng, R. J. Downey, W. E. Dixon

研究成果: Conference article

12 引文 斯高帕斯(Scopus)

摘要

Cycling induced by functional electrical stimulation (FES) is an effective means for exercise and rehabilitation of individuals suffering from neurological disorders such as stroke, spinal cord injury, and cerebral palsy. To achieve FES-cycling, potential fields are alternately applied across muscle groups in the lower extremities. Alternating stimulation of various muscle groups according to the crank position makes the FES-cycling system a switched system with autonomous state-dependent switching. This paper examines FES-cycling from a switched systems analysis perspective. Specifically, a switched sliding mode controller is developed to yield approximate tracking of a desired cadence despite an uncertain, nonlinear cycle-rider model. Cadence tracking is proven via a common Lyapunov-like function and experimental results are provided to demonstrate the performance of the switched controller.

原文English
文章編號7040370
頁(從 - 到)6260-6265
頁數6
期刊Proceedings of the IEEE Conference on Decision and Control
2015-February
發行號February
DOIs
出版狀態Published - 1 一月 2014
事件2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
持續時間: 15 十二月 201417 十二月 2014

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