Rehabilitation training with pedaling wheelchair in combination with functional electrical stimulation (FES) can be effective for decreasing the risk of falling significantly. Automatic adjustment of cycling speed and making a turn without standstill has been desired for practical applications of the training with mobile FES cycling. This study aimed at developing closed-loop control system of cycling speed with the pedaling wheelchair. Considering clinical practical use with no requirement of extensive modifications of the wheelchair, measurement method of cycling speed with inertial motion measurement units (IMUs) was introduced, and fuzzy controller for adjusting stimulation intensity to regulate cycling speed was designed. The developed prototype of closed-loop FES control system achieved appropriately cycling speed for the different target speeds in most of control trials with neurologically intact subjects. In addition, all the control trials of low speed cycling including U-turn achieved maintaining the target speed without standstill. Cycling distance and cycling time increased with the closed-loop control of low cycling speed compensating decreasing of cycling speed caused by muscle fatigue. From these results, the developed closed-loop fuzzy FES control system was suggested to work reliably in mobile FES cycling.
Takashi WATANABE
Tohoku University
Takumi TADANO
Tohoku University
The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.
Copy
Takashi WATANABE, Takumi TADANO, "Experimental Tests of a Prototype of IMU-Based Closed-Loop Fuzzy Control System for Mobile FES Cycling with Pedaling Wheelchair" in IEICE TRANSACTIONS on Information,
vol. E101-D, no. 7, pp. 1906-1914, July 2018, doi: 10.1587/transinf.2017EDP7299.
Abstract: Rehabilitation training with pedaling wheelchair in combination with functional electrical stimulation (FES) can be effective for decreasing the risk of falling significantly. Automatic adjustment of cycling speed and making a turn without standstill has been desired for practical applications of the training with mobile FES cycling. This study aimed at developing closed-loop control system of cycling speed with the pedaling wheelchair. Considering clinical practical use with no requirement of extensive modifications of the wheelchair, measurement method of cycling speed with inertial motion measurement units (IMUs) was introduced, and fuzzy controller for adjusting stimulation intensity to regulate cycling speed was designed. The developed prototype of closed-loop FES control system achieved appropriately cycling speed for the different target speeds in most of control trials with neurologically intact subjects. In addition, all the control trials of low speed cycling including U-turn achieved maintaining the target speed without standstill. Cycling distance and cycling time increased with the closed-loop control of low cycling speed compensating decreasing of cycling speed caused by muscle fatigue. From these results, the developed closed-loop fuzzy FES control system was suggested to work reliably in mobile FES cycling.
URL: https://global.ieice.org/en_transactions/information/10.1587/transinf.2017EDP7299/_p
Copy
@ARTICLE{e101-d_7_1906,
author={Takashi WATANABE, Takumi TADANO, },
journal={IEICE TRANSACTIONS on Information},
title={Experimental Tests of a Prototype of IMU-Based Closed-Loop Fuzzy Control System for Mobile FES Cycling with Pedaling Wheelchair},
year={2018},
volume={E101-D},
number={7},
pages={1906-1914},
abstract={Rehabilitation training with pedaling wheelchair in combination with functional electrical stimulation (FES) can be effective for decreasing the risk of falling significantly. Automatic adjustment of cycling speed and making a turn without standstill has been desired for practical applications of the training with mobile FES cycling. This study aimed at developing closed-loop control system of cycling speed with the pedaling wheelchair. Considering clinical practical use with no requirement of extensive modifications of the wheelchair, measurement method of cycling speed with inertial motion measurement units (IMUs) was introduced, and fuzzy controller for adjusting stimulation intensity to regulate cycling speed was designed. The developed prototype of closed-loop FES control system achieved appropriately cycling speed for the different target speeds in most of control trials with neurologically intact subjects. In addition, all the control trials of low speed cycling including U-turn achieved maintaining the target speed without standstill. Cycling distance and cycling time increased with the closed-loop control of low cycling speed compensating decreasing of cycling speed caused by muscle fatigue. From these results, the developed closed-loop fuzzy FES control system was suggested to work reliably in mobile FES cycling.},
keywords={},
doi={10.1587/transinf.2017EDP7299},
ISSN={1745-1361},
month={July},}
Copy
TY - JOUR
TI - Experimental Tests of a Prototype of IMU-Based Closed-Loop Fuzzy Control System for Mobile FES Cycling with Pedaling Wheelchair
T2 - IEICE TRANSACTIONS on Information
SP - 1906
EP - 1914
AU - Takashi WATANABE
AU - Takumi TADANO
PY - 2018
DO - 10.1587/transinf.2017EDP7299
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E101-D
IS - 7
JA - IEICE TRANSACTIONS on Information
Y1 - July 2018
AB - Rehabilitation training with pedaling wheelchair in combination with functional electrical stimulation (FES) can be effective for decreasing the risk of falling significantly. Automatic adjustment of cycling speed and making a turn without standstill has been desired for practical applications of the training with mobile FES cycling. This study aimed at developing closed-loop control system of cycling speed with the pedaling wheelchair. Considering clinical practical use with no requirement of extensive modifications of the wheelchair, measurement method of cycling speed with inertial motion measurement units (IMUs) was introduced, and fuzzy controller for adjusting stimulation intensity to regulate cycling speed was designed. The developed prototype of closed-loop FES control system achieved appropriately cycling speed for the different target speeds in most of control trials with neurologically intact subjects. In addition, all the control trials of low speed cycling including U-turn achieved maintaining the target speed without standstill. Cycling distance and cycling time increased with the closed-loop control of low cycling speed compensating decreasing of cycling speed caused by muscle fatigue. From these results, the developed closed-loop fuzzy FES control system was suggested to work reliably in mobile FES cycling.
ER -