Design and Control of an Electr ical Assist Wheelchair Pedaled by Paraplegics through Functional Electr ical Stimulation
Date Issued
2001-07-31
Date
2001-07-31
Author(s)
DOI
892614E002009
Abstract
The objective of this two-year project is
to design and control of an electrical assist
wheelchair FES pedaling system,. The
FES is used to stimulate the paralyzed lower
limbs to achieve periodic cycling exercise
and a disk motor incorporated into the front
wheel will assist the ambulation when the
wheelchair is in a up-hill situation, the
muscle fatigue sign is on, or the patient
simply gets tired. The system in turn will
make the patients’ rehabilitation process
more versatile and interesting. The system
control will integrate the wheelchair
performance control and the rehabilitation
outcome control according to the goals so
that the wheelchair will be able to serve for
both rehabilitation and ambulatory purposes.
This research will also establish a solid
theoretical foundation, which allows for a
systematic approach to the further
development.
A mathematical model, which contains
a Hill-type muscle-joint model and a four-bar
linkage, is established in this first-year
research to simulate FES-assisted pedaling
movements for paraplegics. Our muscle-joint
model is a modified three-factor model and is
used to predict joint moment induced by
functional electrical stimulation (FES). And
the five-bar linkage is used to simulate
pedaling movement as a result of the FES
induced moment. Based on this model, we
developed a PID control for patient pedaling
speed control. It is required that the control
should perform the desired system dynamic
response. It is also our intention that the
system model can be utilized in system
analysis and evaluation to achieve asystematic overall system design.
Subjects
Functional Electrical Stimulation
(FES)
(FES)
Pedaling Movement
Paraplegics.
Publisher
臺北市：國立臺灣大學醫學工程學研究所
Type
report
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