System Design and Control of an FES-Assisted Pedaling Wheelchair for Paraplegics
| Autor: | Hung-Bin Chen, 陳鴻彬 |
|---|---|
| Rok vydání: | 2001 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 89 Our ultimate goal is to develop an FES-assisted pedaling wheelchair for paraplegics. The cycling mobility is considered in the system and therefore a motorized tricycle is being designed such that the FES assisted pedaling movements provides paraplegics physiological benefits and the front disk motor assists the tricycle driving power for mobility purposes. A dynamic model of the FES-induced pedaling movements is a keystone to the design and control of the custom-built wheelchair. We have constructed an identifiable continuous-time biodynamical model of the FES-induced pedaling movement. The model contains an FES muscle-joint model and a pedaling dynamics that are utilized to predict the FES-induced joint moments and to represent how the joint moments affect the pedaling movement, respectively. All of our model parameters can be identified practically according to the anthropometrics and muscle properties of each patient. Based on the FES pedaling model, an inverse dynamics controller was derived in order to demand the response of the pedaling system. The controller along with the consideration of a specific stimulation timing of the muscle was designed and the individualized stimulation pattern was determined. Subsequently, the personal seat configuration was found by carrying out optimization procedure in order to minimize stimulated current during steady pedaling. Thus far, coupled with a speed control system of the motorized tricycle, the theoretical foundation of developing a custom-built FES-assisted pedaling wheelchair was established. Additionally, two kinds of experiments are conducted in this thesis for system validation. The first is to identify parameters contained in the system model through the FES muscle testing on a dynamometer. The second is to accomplish speed control of a motorized tricycle as the patient is performing FES-assisted pedaling at the same time so that we can evaluate the practicability of the whole wheelchair system. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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