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Thomas Schauer, Robert C. Salbert, Nils-Otto Negard, Kenneth J. Hunt, Jörg Raisch
Power Control of Electrical Stimulation Induced Cycle Ergometry
Keywords: Biomedical engineering, self-tuning control, extended Kalman filter
Training the cardio-pulmonary system by means of Functional Electrical Stimulation (FES) induced leg cycle ergometry represents a recent method for the rehabilitation of spinal cord injured patients. This contribution presents a newly developed ergometer system with electrical stimulation. The device is equipped with an auxiliary motor to support the movement of the legs. Using the motor, an isokinetic training can be realised. The motor maintains the cadence at a desired level while the cyclist is working against the motor aiming to accelerate the crank by the FES induced active drive moment. The work rate is controlled in this case by a self-tuning moment controller which adjusts the stimulation intensity. The controller design is based on an online identified linear transfer-function between stimulation intensity and averaged active drive torque. Preliminary experimental results with a neurologically intact subject are presented.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 53, 12/2005
Pages: 607 - 614