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- W3160334482 abstract "For individuals with neuromuscular disorders (NDs) affecting the coordination and control of their legs, motorized functional electrical stimulation (FES) cycling serves as a rehabilitation strategy and offers numerous health benefits. A motorized FES cycle is an example of a hybrid exoskeleton involving cooperative physical human–robot interaction where both the cycle’s motor and rider’s muscles (through electrical stimulation) must be controlled to achieve desirable performance. A robust sliding-mode cadence controller is developed for the rider’s muscles, while an adaptive admittance controller is employed on the cycle’s motor to preserve rider comfort and safety. A switched systems stability analysis using Lyapunov and passivity-based methods is conducted to ensure global asymptotic stability of the admittance error system and that the cadence error system remains passive. Experiments are conducted on one able-bodied participant and four participants with NDs to illustrate the performance of the control design. For the participants with NDs, the controller achieved an average admittance tracking error of −0.08±1.05 rpm at an average cadence of 47.85±1.13 rpm for the desired cadence of 50 rpm." @default.
- W3160334482 created "2021-05-24" @default.
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- W3160334482 date "2022-03-01" @default.
- W3160334482 modified "2023-10-15" @default.
- W3160334482 title "A Switched Lyapunov-Passivity Approach to Motorized FES Cycling Using Adaptive Admittance Control" @default.
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- W3160334482 doi "https://doi.org/10.1109/tcst.2021.3076934" @default.
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