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.
@article{arxiv.1310.0296,
title = {Tracking Control for FES-Cycling based on Force Direction Efficiency with Antagonistic Bi-Articular Muscles},
author = {Hiroyuki Kawai and Matthew J. Bellman and Ryan J. Downey and Warren E. Dixon},
journal= {arXiv preprint arXiv:1310.0296},
year = {2013}
}