A test of controlling different muscles in FES cycling with cycling wheelchair &amp;#x0022;Profhand&amp;#x0022;

Watanabe, Takashi; Karasawa, Yuta; Handa, Yasunobu

doi:10.1109/ifess.2014.7036742

Cited by 8 publications

(4 citation statements)

References 10 publications

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“…Control algorithms and additional processing are implemented in Python and executed in a personal computer at 25 Hz. The controller receives crank position and angular speed readings from wireless inertial sensors (3space, Yei Technology, Portsmouth, OH, USA), similarly to previous works like . The sensing unit is composed of 3‐axis accelerometers, gyrometers and magnetometers, and provides measurements of crank position and angular speed based on the fusion of data acquired from those individual sensors.…”

Section: Subject and Methodsmentioning

confidence: 99%

Cadence Tracking and Disturbance Rejection in Functional Electrical Stimulation Cycling for Paraplegic Subjects: A Case Study

et al. 2017

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Functional electrical stimulation cycling has been proposed as an assistive technology with numerous health and fitness benefits for people with spinal cord injury, such as improvement in cardiovascular function, increase in muscular mass, and reduction of bone mass loss. However, some limitations, for example, lack of optimal control strategies that would delay fatigue, may still prevent this technology from achieving its full potential. In this work, we performed experiments on a person with complete spinal cord injury using a stationary tadpole trike when both cadence tracking and disturbance rejection were evaluated. In addition, two sets of experiments were conducted 6 months apart and considering activation of different muscles. The results showed that reference tracking is achieved above the cadence of 25 rpm with mean absolute errors between 1.9 and 10% when only quadriceps are activated. The disturbance test revealed that interferences may drop the cadence but do not interrupt a continuous movement if the cadence does not drop below 25 rpm, again when only quadriceps are activated. When other muscle groups were added, strong spasticity caused larger errors on reference tracking, but not when a disturbance was applied. In addition, spasticity caused the last experiments to result in less smooth cycling.

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Section: Subject and Methodsmentioning

confidence: 99%

Cadence Tracking and Disturbance Rejection in Functional Electrical Stimulation Cycling for Paraplegic Subjects: A Case Study

et al. 2017

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“…Previous research shows the convenience of combining a wheelchair with leg exercises for locomotion and rehabilitation [19]. Numerous studies have focused on wheelchair-based leg cycling exercises.…”

Section: Introductionmentioning

confidence: 99%

Design and Feasibility Study of a Leg-exoskeleton Assistive Wheelchair Robot with Tests on Gluteus Medius Muscles

Huang

Ceccarelli

Mai

2019

Sensors

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The muscles of the lower limbs directly influence leg motion, therefore, lower limb muscle exercise is important for persons living with lower limb disabilities. This paper presents a medical assistive robot with leg exoskeletons for locomotion and leg muscle exercises. It also presents a novel pedal-cycling actuation method with a crank-rocker mechanism. The mechanism is driven by a single motor with a mechanical structure that ensures user safety. A control system is designed based on a master-slave control with sensor fusion method. Here, the intended motion of the user is detected by pedal-based force sensors and is then used in combination with joystick movements as control signals for leg-exoskeleton and wheelchair motions. Experimental data is presented and then analyzed to determine robotic motion characteristics as well as the assistance efficiency with attached electromyogram (EMG) sensors. A typical muscle EMG signal analysis shows that the exercise efficiency for EMG activated amplitudes of the gluteus medius muscles approximates a walking at speed of 3 m/s when cycling at different speeds (i.e., from 16 to 80 r/min) in a wheelchair. As such, the present wheelchair robot is a good candidate for enabling effective gluteus medius muscle exercises for persons living with gluteus medius muscle disabilities.

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“…From the above points of view, preliminary tests were performed stimulating different muscle groups using stimulation timing adjusted automatically during cycling [23]. Although FES control without stimulation to the gluteus maximus was suggested to be possible, its evaluation criteria was not clear and effectiveness of stimulation to the dorsiflexor muscles was not shown.…”

Section: Introductionmentioning

confidence: 99%

Comparison of Muscle Stimulation Groups for Simplified Practical FES Cycling Control with Cycling Wheelchair: An Experimental Test with Healthy Subjects

Watanabe

Karasawa

2016

IEICE Trans. Inf. & Syst.

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SUMMARYThe cycling wheelchair "Profhand" was developed in Japan as locomotion and lower limb rehabilitation device for hemiplegic subjects and elderly persons. Functional electrical stimulation (FES) control of paralyzed lower limbs enables application of the Profhand to paraplegic subjects as a rehabilitation device. In this paper, simplified muscle stimulation control for FES cycling with Profhand was examined for practical application, because cycling speed was low and not stable in our preliminary study and there was a difficulty in setting stimulation electrodes for the gluteus maximus. First, a guideline of target cycling speed to be achieved by FES cycling was determined from voluntary cycling with healthy subjects in order to evaluate FES cycling control. The cycling speed of 0.6m/s was determined as acceptable value and 1.0m/s was as ideal one. Then, stimulation to the gluteus maximus and that to the dorsiflexor muscles in addition to the quadriceps femoris were examined for simple FES cycling control for Profhand with healthy subjects. Stimulation timing was adjusted automatically during cycling based on muscle response time to electrical stimulation and cycling speed, which was shown to be effective for FES cycling control. Simple FES cycling control with Profhand removing stimulation to the gluteus maximus was found to be feasible. Stimulation to the dorsiflexor muscles with the quadriceps femoris was suggested to be effective for practical, simple FES cycling with Profhand in case of removing the gluteus maximus stimulation.

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A test of controlling different muscles in FES cycling with cycling wheelchair "Profhand"

Cited by 8 publications

References 10 publications

Cadence Tracking and Disturbance Rejection in Functional Electrical Stimulation Cycling for Paraplegic Subjects: A Case Study

Cadence Tracking and Disturbance Rejection in Functional Electrical Stimulation Cycling for Paraplegic Subjects: A Case Study

Design and Feasibility Study of a Leg-exoskeleton Assistive Wheelchair Robot with Tests on Gluteus Medius Muscles

Comparison of Muscle Stimulation Groups for Simplified Practical FES Cycling Control with Cycling Wheelchair: An Experimental Test with Healthy Subjects

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