Experimental tests of a prototype of IMU-based closed-loop fuzzy control system for mobile FES cycling with pedaling wheelchair

Takashi Watanabe, Takumi Tadano

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)1906-1914
Number of pages9
JournalIEICE Transactions on Information and Systems
Issue number7
Publication statusPublished - 2018 Jul


  • Closed-loop control
  • Cycling
  • FES
  • Fuzzy
  • Pedaling wheelchair

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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