Paper Info
Title
Tracking control for FES-cycling based on force direction efficiency with antagonistic bi-articular muscles.
Abstract
A functional electrical stimulation (FES)-based tracking controller is developed to enable cycling based on a strategy to yield force direction efficiency by exploiting antagonistic bi-articular muscles. Given the input redundancy naturally occurring among multiple muscle groups, the force direction at the pedal is explicitly determined as a means to improve the efficiency of cycling. A model of a stationary cycle and rider is developed as a closed-chain mechanism. A strategy is then developed to switch between muscle groups for improved efficiency based on the force direction of each muscle group. Stability of the developed controller is analyzed through Lyapunov-based methods.
Year
DOI
Venue
2013
10.1109/ACC.2014.6859197
ACC
Keywords
DocType
Volume
Lyapunov methods,biology,force control,muscle,stability,FES-based tracking controller,FES-cycling,Lyapunov-based methods,antagonistic biarticular muscles,closed-chain mechanism,force direction efficiency,functional electrical stimulation,stability,Biomedical,Robust control,Stability of nonlinear systems
Journal
abs/1310.0296
ISSN
Citations 
PageRank 
0743-1619
6
0.81
References 
Authors
6
4
Name
Order
Citations
PageRank
Hiroyuki Kawai1279.11
Matthew J. Bellman2264.27
Ryan Downey3355.02
Warren E. Dixon41757149.42