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Paper detail

Tracking Control for FES-Cycling based on Force Direction Efficiency with Antagonistic Bi-Articular Muscles

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.

preprint2013arXivOpen access
Hiroyuki KawaiMatthew J. BellmanRyan J. DowneyWarren E. Dixon
Systems and Control
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Hiroyuki KawaiMatthew J. BellmanRyan J. DowneyWarren E. Dixon

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