Design And Research On FES Cycling Stimulation Loop With Constant Power

The technology to recover paraplegic patients'motion function by functional electrical stimulation is an advanced multi-discipline of machine, control and clinic rehabilitation. As an new recovery technology, FES Cycling not only improve patients cardiopulmonary function, strengthen muscle and recruit partial movement function, but also rebuild patients'confidence and help them back to society. Its medical effect has been proved by lots of experiment. Based on the previous research, I do further research in building FES iso-power stimulation loop. It concludes that, compared with velocity control system, FES iso-power stimulation loop control system is more stable, easier for patients to adjust power output and suitable for more patients.This paper introduces the research of FES Cycling at home and abroad and develop the FES Cycling stimulation loop based on the previous research. Firstly, in respect of the cycling equipment, I use the method of analyzing lever to build the kinematic and dynamic model of cycling. At the same time considering the patient's physiological feature and using the muscle dynamic model and muscle energy cost model, the paper took the object of maximizing cycling efficiency to design stimulation pattern. The stimulation pattern coordinates the different muscles'contraction and keeps high efficiency. Secondly, I analyzed the characteristic of controlled object, designed the identification experiment and programmed the model in simulink. After the collection of experiment data, the model, whose input was pulse width and output was power, was identified in ARMAX model type. In the end, the controller was designed by the method of pole placement and tested by simulation and experiment. The result indicated that the system had good step response and tracking performance and met the requirement of quantitative control of cycling power.This subject obtains the aim of iso-power control of patients'leg. The stimulation pattern which maximizes the efficiency of cycling can prolong the time of exercise and improve the recovery effect. Compared with the former system, the system designed in this study is suitable for more people and easy to check the result of training. The research of stimulation pattern, object model and controller are...