Reactive torque monitoring and cycling speed control of a belt-driven cycle ergometer

Po Wen Hsueh, Mi-Ching Tsai

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

The lower limb cycle ergometer driven by a motor is a typical rehabilitation-assistive device for hemiparetic patients with abnormal muscle tone in their lower limbs. Since unusual muscle tone may cause excessive spasticity during rehabilitation, it is important to monitor reactive torques produced primarily by the abnormal muscle tone. Thus, this study investigated a state observer design applied to a belt-driven ergometer, where the motor current and position information were used to estimate reliable reactive torque. A dual feedback control loop was proposed to improve the resonance caused by the belt-driven structure and stabilize the cycling speed in the cycle rehabilitated device; meanwhile, the impedance model constructed by the feedback control loop is presented to generate the compliance characteristic for stably and gently controlling the speed response affected by reactive torque. Simulation and experiments of the belt-driven ergometer were conducted with results validating the effectiveness of the proposed control scheme in terms of stable cycle speed and observer performance.

Original languageEnglish
Pages (from-to)1564-1576
Number of pages13
JournalControl Engineering Practice
Volume21
Issue number11
DOIs
Publication statusPublished - 2013 Nov 1

Fingerprint

Exercise equipment
Speed Control
Cycling
Speed control
Muscle
Torque
Rehabilitation
Monitoring
Cycle
Patient rehabilitation
Feedback Control
Feedback control
State Observer
Observer Design
Compliance
Impedance
Observer
Monitor
Estimate
Experiment

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

Cite this

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Reactive torque monitoring and cycling speed control of a belt-driven cycle ergometer. / Hsueh, Po Wen; Tsai, Mi-Ching.

In: Control Engineering Practice, Vol. 21, No. 11, 01.11.2013, p. 1564-1576.

Research output: Contribution to journalArticle

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