Name
Title | ||
|---|---|---|
Position and torque control via rehabilitation robot and functional electrical stimulation |
Abstract | ||
|---|---|---|
Two common rehabilitation therapies for individuals possessing neurological conditions are functional electrical stimulation (FES) and robotic assistance. This paper focuses on combining the two rehabilitation strategies for use on the biceps brachii muscle group. FES is used to elicit muscle contractions to actuate the forearm and a rehabilitation robot is used to challenge the muscle group in its efforts. Two controllers were developed and implemented to accomplish the multifaceted objective, both of which achieve global exponential stability for position and torque tracking as proven through a Lyapunov stability analysis. Experiments performed on one able bodied individual demonstrate an average RMS error of 5.8 degrees for position tracking and 0.40 Newton-meters for torque tracking. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/ICORR.2017.8009218 | 2017 International Conference on Rehabilitation Robotics (ICORR) |
Keywords | Field | DocType |
Electric Stimulation,Electric Stimulation Therapy,Humans,Models, Biological,Neurological Rehabilitation,Robotics,Torque | Rehabilitation,Functional electrical stimulation,Torque,Control theory,Lyapunov stability,Rehabilitation robot,Exponential stability,Artificial intelligence,Engineering,Robot,Robotics | Conference |
Volume | ISSN | ISBN |
2017 | 1945-7898 | 978-1-5386-2297-1 |
Citations | PageRank | References |
0 | 0.34 | 7 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Christian A Cousin | 1 | 2 | 0.69 |
| Courtney A. Rouse | 2 | 8 | 5.24 |
| Victor H. Duenas | 3 | 3 | 4.77 |
| Warren E. Dixon | 4 | 1757 | 149.42 |