تقرير
Tracking Control for FES-Cycling based on Force Direction Efficiency with Antagonistic Bi-Articular Muscles
| العنوان: | Tracking Control for FES-Cycling based on Force Direction Efficiency with Antagonistic Bi-Articular Muscles |
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| المؤلفون: | Kawai, Hiroyuki, Bellman, Matthew J., Downey, Ryan J., Dixon, Warren E. |
| سنة النشر: | 2013 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Systems and Control |
| الوصف: | 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. Comment: 8 pages, 4 figures, submitted to ACC2014 |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/1310.0296 |
| رقم الأكسشن: | edsarx.1310.0296 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |