Preliminary tests of a prototype FES control system for cycling wheelchair rehabilitation

Takashi Watanabe, Takuya Murakami, Yasunobu Handa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

The cycling wheelchair 'Profhand' developed by our research group in Japan has been found to be useful in rehabilitation of motor function of lower limbs. It is also expected for rehabilitation of paraplegic subjects to propel the cycling wheelchair by lower limbs controlled by functional electrical stimulation (FES). In this paper, a prototype FES control system for the cycling wheelchair was developed using wireless surface stimulators and wireless inertial sensors and tested with healthy subjects. The stimulation pattern that stimulated the quadriceps femoris and the gluteus maximus at the same time was shown to be effective to propel the Profhand. From the analysis of steady state cycling, it was shown that the cycling speed was smaller and the variation of the speed was larger in FES cycling than those of voluntary cycling. Measured angular velocity of the crank suggested that stimulation timing have to be changed considering delay in muscle response to electrical stimulation and cycling speed in order to improve FES cycling. It was also suggested that angle of the pedal have to be adjusted by controlling ankle joint angle with FES in order to apply force appropriately.

Original languageEnglish
Title of host publication2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
DOIs
Publication statusPublished - 2013
Event2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 - Seattle, WA, United States
Duration: 2013 Jun 242013 Jun 26

Publication series

NameIEEE International Conference on Rehabilitation Robotics
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Other

Other2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013
CountryUnited States
CitySeattle, WA
Period13/6/2413/6/26

Keywords

  • FES
  • Profhand
  • cycling wheelchair
  • functional electrical stimulation
  • lower limb

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

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  • Cite this

    Watanabe, T., Murakami, T., & Handa, Y. (2013). Preliminary tests of a prototype FES control system for cycling wheelchair rehabilitation. In 2013 IEEE 13th International Conference on Rehabilitation Robotics, ICORR 2013 [6650484] (IEEE International Conference on Rehabilitation Robotics). https://doi.org/10.1109/ICORR.2013.6650484