Position and torque control via rehabilitation robot and functional electrical stimulation

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 contra...

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Bibliographic Details
Main Authors: Cousin, Christian A., Rouse, Courtney A., Duenas, Victor H., Dixon, Warren E.
Format: Conference Proceeding
Language:English
Subjects:
Elbow
Electric Stimulation - instrumentation
Electric Stimulation Therapy - instrumentation
Functional Electrical Stimulation (FES)
Humans
Impedance
Iron
Lyapunov
Models, Biological
Muscles
Neurological Rehabilitation - instrumentation
Rehabilitation Robot
Robotics - instrumentation
Robots
Stiffness Controller
Torque
Torque Tracking
Tracking
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Summary: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.
ISSN:1945-7901
DOI:10.1109/ICORR.2017.8009218