基于对抗性双关节肌肉的FES-骑行跟踪控制
Tracking Control for FES-Cycling based on Force Direction Efficiency with Antagonistic Bi-Articular Muscles
AI总结：
本文提出基于FES的跟踪控制器，通过利用对抗性双关节肌肉提高骑行的力方向效率，建立了静止自行车和骑行者的封闭链模型，并通过Lyapunov方法分析控制器稳定性。
摘要：
本文开发了一种基于功能性电刺激（FES）的跟踪控制器，旨在通过利用对抗性双关节肌肉提高骑行的力方向效率。鉴于多个肌肉群中固有的输入冗余性，将脚踏板的力方向显式确定为提高骑行效率的手段。建立了静止自行车和骑行者的模型作为封闭链机制。随后，开发了一种策略，根据每个肌肉群的力方向在肌肉群之间进行切换。通过Lyapunov方法分析所开发控制器的稳定性。
英文摘要：
A functional electrical stimulation (FES)-based tracking controller is developed to enable cycling based on a strategy to yield force direction efficiency by exploiting antagonistic bi-articular muscles. Given the input redundancy naturally occurring among multiple muscle groups, the force direction at the pedal is explicitly determined as a means to improve the efficiency of cycling. A model of a stationary cycle and rider is developed as a closed-chain mechanism. A strategy is then developed to switch between muscle groups for improved efficiency based on the force direction of each muscle group. Stability of the developed controller is analyzed through Lyapunov-based methods.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
