Position and Torque Control via

Rehabilitation
Robot and Functional Electrical
Stimulation

Christian A. Cousin, Courtney A. Rouse, Victor H. Duenas, and Warren E.

Dixon

Department of Mechanical and Aerospace Engineering, University of

Florida,
 Position and Torque Control via Rehabilitation Robot
and Functional Electrical Stimulation

Motivation
Improve rehabilitation techiniques usins robotic assistance and
functional electrical stimulation (FES)
Combine a challenge based rehabilitation robot with FES to regulate
torque and reange of motion aboout the elbow joint
FES stimulaters the bceps branchii to actuate the forearms and track
position
Robot resists forearm motion in a spring like fashion to track torque
Position and Torque Control via Rehabilitation Robot
and Functional Electrical Stimulation
 Position and Torque Control via Rehabilitation Robot
and Functional Electrical Stimulation
Forearm-robot dynamics:

Torque applied by passive viscoelastic tissue forces

Torque applied by viscous robot damping

Torque applied by unknown disturbances

Torque applied by the robots electric motor

 Position and Torque Control via Rehabilitation Robot
and Functional Electrical Stimulation
Forearm-robot dynamics:

Torque applied by the biceps brachii muscle group

umuscle : muscle stimulation intensity input

Bmuscle : function relating stimulation current to torque

uncertain moment arm of the Uncertain nonlinear function uncertain pennation angle of
Bicep brachiis output torque relating stimulation intensity to the muscle fibers
muscle fiber force
 Position and Torque Control via Rehabilitation Robot
and Functional Electrical Stimulation
Motor dynamics:

Taking the first and second derivatives of f and substituting into the forearm-robot dynamics:
 Position and Torque Control via Rehabilitation Robot
and Functional Electrical Stimulation
Position Controller

The muscle controller is designed as