Tracking Control of FES Alternate Knee sBending and Stretching Trike in Consideration of Running Velocity

This paper considers the control method for functional electrical stimulation (FES) alternate knee bending and stretching trike system that takes into account the running velocity in outdoor environments for rehabilitation for patients with a motor system disorder (e.g., spinal cord injury or Parkinson's disease). The control objective of the proposed controller is to make the running velocity of the trike follow the desired one. FES trike and a rider are modeled by considering running resistances, characteristics of the freewheel, and force direction of each lower limb's 2 muscle groups. Stability of the developed controller is analyzed through Lyapunov-based methods.