Position and cadence tracking of a motorized FES-cycle with an unknown time-varying input delay using saturated FES control

Neurological conditions (NCs) can have debilitating effects on an individual and impede a person’s ability to perform activities of daily living. A common rehabilitation for individuals with NCs is the use functional electrical stimulation (FES) induce muscle contractions task, such as cycling. In this paper, we develop closed-loop FES cycling controller that yields exponential cadence tracking. Contributions work result from design analysis innovations compensate switching between different muscles motor control inputs, compensating inherent uncertain nonlinear dynamics, time-varying unknown input delay resulting complex electrochemical torque production process, saturation in evoked due fatigue, available mass, or sensitivity. The performance developed system was examined through series experiments nine participants (five able-bodied four NCs). resulted tracking error ?0.03 ± 1.69 RPM non-informed passive ?0.04 1.98 NCs, desired 50 RPM.