A functional electrical stimulation (FES)-based tracking controller is
developed to enable cycling based on a strategy to yield force direction
efficiency by exploiting antagonistic bi-articular muscles. Given the input
redundancy naturally occurring among multiple muscle groups, the force
direction at the pedal is explicitly determined as a means to improve the
efficiency of cycling. A model of a stationary cycle and rider is developed as
a closed-chain mechanism. A strategy is then developed to switch between muscle
groups for improved efficiency based on the force direction of each muscle
group. Stability of the developed controller is analyzed through Lyapunov-based
methods.Comment: 8 pages, 4 figures, submitted to ACC201
