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Title: Cadence and Admittance Control of a Motorized Functional Electrical Stimulation Cycle
Functional electrical stimulation (FES) can be combined with a motorized cycle to offer various rehabilitation options for individuals with neurological conditions. Typically, FES cycling controllers use cooperating muscles and an electric motor to track cadence. In this paper, in addition to cooperative cadence tracking, the motorized cycle tracks an admittance trajectory generated using torque feedback. This method allows the cycle to deviate from the desired cadence trajectory and admit to the rider-applied torque, ensuring safe human-machine interaction. Two sets of uncertain, nonlinear dynamics are presented, one for the human rider and one for the robot, linked by a common measurable interaction torque. After developing cadence and admittance controllers, a Lyapunov-like switched system stability analysis is provided to prove global exponential tracking of the cadence error system, and a passivity analysis is conducted to prove passivity of the cycle’s admittance controller with respect to the rider’s interaction torque. *Note this paper does not properly cite the specific project.  more » « less
Award ID(s):
1762829
NSF-PAR ID:
10088769
Author(s) / Creator(s):
; ; ;
Date Published:
Journal Name:
Proc. IEEE Conference on Decision and Control
Page Range / eLocation ID:
6470 to 6475
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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