IEEE Trans Neural Syst Rehabil Eng. 2019 Jun;27(6):1181-1192. doi: 10.1109/TNSRE.2019.2914579. Epub 2019 May 3.
For an individual suffering from a neurological condition, such as spinal cord injury, traumatic brain injury, or stroke, motorized functional electrical stimulation (FES) cycling is a rehabilitation strategy, which offers numerous health benefits. Motorized FES cycling is an example of physical human-robot interaction in which both systems must be controlled; the human is actuated by applying neuromuscular electrical stimulation to the large leg muscle groups, and the cycle is actuated through its onboard electric motor. While the rider is stimulated using a robust sliding-mode controller, the cycle utilizes an admittance controller to preserve rider safety. The admittance controller is shown to be passive with respect to the rider, and the cadence controller is shown to be globally exponentially stable through a Lyapunov-like switched systems stability analysis. Experiments are conducted on three able-bodied participants and four participants with neurological conditions (NCs) to demonstrate the efficacy of the developed controller and investigate the effect of manipulating individual admittance parameters. Results demonstrate an average admittance cadence error of -0.06±1.47 RPM for able-bodied participants and -0.02 ± 0.93 RPM for participants with NCs.
对于患有神经系统疾病（如脊髓损伤、创伤性脑损伤或中风）的个体，电动功能性电刺激（FES）自行车是一种康复策略，它具有许多健康益处。电动 FES 自行车是物理人机交互的一个例子，其中两个系统都必须进行控制；人类通过对大腿肌肉群施加神经肌肉电刺激来进行操作，而自行车通过其内置的电动机来进行操作。当骑手使用强大的滑模控制器进行刺激时，自行车使用导纳控制器来保护骑手的安全。导纳控制器被证明对骑手是被动的，通过类似 Lyapunov 的切换系统稳定性分析，证明了节奏控制器是全局指数稳定的。实验在三名身体健康的参与者和四名患有神经系统疾病（NC）的参与者身上进行，以证明开发的控制器的有效性，并研究操纵单个导纳参数的效果。结果表明，身体健康的参与者的平均导纳节奏误差为-0.06±1.47 RPM，而患有 NC 的参与者的平均导纳节奏误差为-0.02 ± 0.93 RPM。
