FES-assisted cycling with velocity tracking control for hemiparesis rehabilitation

This paper investigates a functional electrical stimulation (FES) cycling system on velocity tracking control for human limbs in order to stimulate multiple muscle groups continuously and simultaneously at all angles during pedaling. A stationary cycle and rider is modeled as an Euler Lagrange system by using a closed-chain mechanism. Stability of the developed controller is analyzed through Lyapunov-based methods. Experiment results are shown to confirm the validity of the proposed method in a healthy participant and a hemiparesis patient who had a cerebral hemorrhage from both theoretical and rehabilitation points of view.

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