Authors:
Emilia Ambrosini
1
;
Simona Ferrante
1
;
Thomas Schauer
2
;
Alessandra Pedrocchi
1
and
Giancarlo Ferrigno
1
Affiliations:
1
Politecnico di Milano, Italy
;
2
Technische Universität Berlin, Germany
Keyword(s):
FES cycling, Control systems, Stroke, Rehabilitation.
Related
Ontology
Subjects/Areas/Topics:
Biomedical Engineering
;
Biomedical Instrumentation
;
Biomedical Instruments and Devices
;
Biomedical Sensors
Abstract:
This study deals with the design of a controller for FES cycling able to assure a symmetrical pedalling. This controller is exploitable in the rehabilitation of patients with unilateral neurological disorders which need to recover a symmetrical use of the legs. The controller updates the values of pulse width used in the stimulation of the two legs in order to nullify the unbalance between the torques produced at the cranks and then to maintain a symmetrical pedalling. The controller was tested first in simulation by means of a neuro-musculo skeletal model of a stroke patient which identifies the kinematic and dynamic of cycling induced by FES. After a stability analysis and an optimization of the controller tuning performed in simulation, the controller was tested experimentally on a healthy subject. The results of this trial show that the controller is able to reach a symmetrical pedalling in about 18 s, starting from an unbalance of 0.73 Nm. Furthermore, it is able to maintain a s
ymmetrical task with small oscillations of the PWs. Thus, its employment in the rehabilitation of stroke patients could be crucial in the recovery of motor functions, such as walking, where a cyclical symmetrical motor task is required.
(More)