FES Cycling and Closed-Loop Feedback Control for Rehabilitative Human–Robot Interaction

• DOI: 10.3390/robotics10020061
• Publication Date: 2021-04-23T01:25:56Z
• Authors: Christian Cousin; Victor Duenas; Warren Dixon
• Keywords: Functional electrical stimulation; Cadence; Rehabilitation robotics; Cycling; Teleoperation; Rehabilitation engineering

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 development multiple cycling testbeds safeguards described, along switched nonlinear dynamics cycle–rider system. Closed-loop control designs are described for cadence torque tracking. each tracking objective, authors’ past work on robust adaptive controllers used compute muscle motor current inputs presented discussed. Experimental involving both able-bodied participants injuries provided combination controller objective. Trade-offs algorithms discussed based requirements implementation, desired outcomes rider performance. Lastly, future works applicability developed methods additional technologies including teleoperated robotics outlined.