Additive Friction Stir Deposition (AFSD) is a recent innovation in non-beam-based metal additive manufacturing that achieves layer-by-layer deposition while avoiding the solid-to-liquid phase transformation. AFSD presents numerous benefits over other forms of fusion-based manufacturing, such as high-strength mechanical bonding, joining dissimilar alloys, and high rates. To improve, automate, ensure quality, uniformity, consistency process, it necessary to control temperature at interaction...

Cycling induced by functional electrical stimulation (FES) coupled with motorized assistance is a promising rehabilitative strategy. A switching controller that activates lower limb muscles alongside an electric motor based on the crank angle developed to facilitate cycling. Due periodic nature of cadence tracking in cycling, repetitive learning (RLC) track desired trajectory known period. The RLC for uncertain, nonlinear cycle-rider system autonomous state-dependent switching. Electrical...

For an individual suffering from a neurological condition, such as spinal cord injury, traumatic brain or stroke, motorized functional electrical stimulation (FES) cycling is rehabilitation strategy, which offers numerous health benefits. Motorized FES example of physical human-robot interaction in both systems must be controlled; the human actuated by applying neuromuscular to large leg muscle groups, and cycle through its onboard electric motor. While rider stimulated using robust...

Motorized functional electrical stimulation (FES) cycling is a rehabilitation therapy in which used to activate lower body muscles pedal cycle conjunction with motorized assistance. FES has been demonstrated improve cardiovascular parameters, muscle mass, and motor control of people neurological conditions (NCs). A common objective simultaneous cadence power (torque) tracking; however, it unclear how best coordinate the contributions if should be tracked instantaneously or averaged over...

Closed-loop control of functional electrical stimulation coupled with motorized assistance to induce cycling is a rehabilitative strategy that can improve the mobility people neurological conditions (NCs). However, robust methods, which are currently pervasive in literature, have limited effectiveness due use high intensity leading accelerated fatigue during protocols. This paper examines design distributed repetitive learning controller (RLC) commands an independent feedforward term each...

Functional electrical stimulation (FES) is a rehabilitation technique in which an electric field applied across muscle group to induce contractions perform functional task such as cycling. By combining FES with motorized cycle, switched system created multiple actuators (i.e., muscles and motor) inputs, tracking objectives position, cadence, torque) can be accomplished. To examine the performance of uncertain nonlinear system, common Lyapunov function dwell-time analysis are used prove...

Motorized functional electrical stimulation (FES) cycling is a promising rehabilitation strategy for individuals with movement disorders, particularly when the pedals of FES cycle are decoupled to measure and address asymmetries. In this article, robot, i.e., split-crank cycle, developed which utilizes combined admittance-cadence controller rider asymmetries through adaptation, ensure safety, electrically stimulate rider's leg muscles pedal at desired cadence. The theoretical development...

For an individual affected by a neuromuscular condition (NC), functional electrical stimulation (FES)-induced cycling provides means of restoration and therapeutic exercise. Although FES-cycling has been shown to have numerous benefits, there are challenges implementing closed-loop FES control for coordinated motion. example, exists potentially destabilizing input delay between the application (or removal) resulting muscle force. Moreover, switching multiple actuators (such as or motor...

This paper examines torque tracking accomplished by the activation of lower-limb muscles via Functional Electrical Stimulation (FES) and cadence regulation an electric motor. Challenges arise from fact that skeletal evoke FES in a time-varying, nonlinear, delayed manner. A desired trajectory is constructed based on crank position determined knee joint transfer ratio (i.e., kinematic efficiency knee), which varies as periodic function angle. To cope with this periodicity, repetitive learning...

The objective of this paper was to develop and test a novel control algorithm that enables stroke survivors pedal cycle in desired cadence range despite varying levels functional abilities after stroke.A developed which automatically adjusts 1) the intensity electrical stimulation (FES) delivered leg muscles, 2) current an electric motor. switches between assistive, uncontrolled, resistive modes accommodate for differences impairment, based on mismatch actual cadence. Lyapunov-based methods...

In an effort to combine two rehabilitation strategies, Functional Electrical Stimulation (FES) and robotic therapy, a robot was developed challenge arm during bicep curls elicited by closed-loop control of FES. The is designed act as admittance its robust, sliding mode controller proven be passive with respect the human. FES utilizes design then dominate effects obtain global exponential stability demonstrated Lyapunov-based analysis. interacting controllers yield position velocity...

Functional electrical stimulation (FES) induced cycling provides a means of therapeutic exercise and functional restoration for people affected by neuromuscular disorders. A challenge in closed-loop FES control coordinated motion is the presence potentially destabilizing input delay between application resulting muscle contraction. Moreover, switching amongst multiple actuators (e.g., various groups controlled electric motor) presents additional challenges overall system stability. In this...

For individuals with movement impairments due to neurological injuries, rehabilitative therapies such as functional electrical stimulation (FES) and rehabilitation robots hold vast potential improve their mobility activities of daily living. Combining FES results in intimately coordinated human–robot interaction. An example interaction is cycling, where motorized assistance can provide high-intensity repetitive practice limb motion, resulting physiological benefits. In this paper, the...

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 offers numerous health benefits. A FES cycle is an example hybrid exoskeleton involving cooperative physical human–robot interaction where both cycle's motor rider's muscles (through stimulation) must be controlled to achieve desirable performance. robust sliding-mode cadence controller developed...

Recent advances in robotics have accelerated their widespread use nontraditional domains such as law enforcement. The inclusion of allows for the introduction time and space dangerous situations, protects enforcement officers (LEOs) from many potentially situations they encounter. In this paper, a teleoperated robot prototype was designed tested to allow LEOs remotely transparently communicate interact with others. featured near face-to-face interactivity accuracy across multiple verbal...

This study explores the perspectives of law enforcement officers (LEOs) on implementation communication robots in police work. Through two approaches - open-ended questionnaires (N = 37) and focus group discussions 14) research aims to gather LEOs' opinions attitudes potential future use these robots. The findings reveal a general skepticism among LEOs, who express low trust Despite this, majority acknowledge that could enhance effectiveness policing. highlights need for increased public...

A wide variation in muscle strength and range of motion exists the movement disorder rehabilitation community. Functional Electrical Stimulation (FES) can be used to induce contractions assist a person who contribute volitional coordinated torques. motor both resist person's and/or FES-induced pedaling. In this paper, multi-level switched system is applied two-sided control objective maintain desired cadence using FES, assistance, resistance, with assistive, passive, resistive modes are...

Functional electrical stimulation (FES) is commonly used for people with neurological conditions. As the muscle geometry changes (i.e., lengthening/shortening), force induced by static electrode placement may also change. Experimental results indicate that forces can be increased spatially switching as joint angle. In this letter, an electric field switched between multiple electrodes placed across biceps brachii to track a desired trajectory. A systems approach develop position-based law,...

A wide variation in muscle strength and asymmetry exists people with movement disorders. Functional electrical stimulation (FES) can be used to induce contractions assist a motor both resist person's volitional and/or FES-induced pedaling. On traditional cycle coupled pedals, neuromuscular asymmetries primarily use their dominant (i.e., stronger) side successfully pedal at desired cadence, neglecting the that would benefit most from rehabilitation. In this paper, multi-level switched system...

Functional electrical stimulation (FES) is commonly used in rehabilitation therapy for people with injuries or various neurological disorders. Noninvasive treatments use surface electrodes to provide a potential field across the muscle and induce contractions/output force. The placement of has significant impact on induced force output. As geometry changes (i.e., lengthening shortening), by static electrode may also change. In this paper, an array placed biceps brachii electric switched...

Functional electrical stimulation (FES) can be combined with a motorized cycle to offer various rehabilitation options for individuals neurological conditions. Typically, FES cycling controllers use cooperating muscles and an electric motor track cadence. In this paper, in addition cooperative cadence tracking, the tracks admittance trajectory generated using torque feedback. This method allows deviate from desired admit rider-applied torque, ensuring safe human-machine interaction. Two sets...

Cycling induced by functional electrical stimulation (FES) of the lower limb muscles is a common rehabilitative treatment. In this paper, repetitive learning controller (RLC) developed for cadence tracking during stationary FES-cycling. The RLC an uncertain, nonlinear cycle-rider system with autonomous state-dependent switching. pattern switches across different muscle groups based on joint effectiveness to produce torque regions crank cycle. An electric motor provides assistance in cycle...