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

Po Wen Hsueh, Mi Ching Tsai

研究成果: Article同行評審

4 引文 斯高帕斯(Scopus)


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.

頁(從 - 到)1564-1576
期刊Control Engineering Practice
出版狀態Published - 2013 十一月

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電腦科學應用
  • 電氣與電子工程
  • 應用數學


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