摘要：AbstractThis paper investigates a functional electrical stimulation (FES) cycling system on movement velocity tracking control of recumbent trike. The developed system is intended to run outdoors by trike with FES pedaling for rehabilitation. The control objective of the proposed controller is to make the movement velocity follow the desired velocity. FES trike and rider is modeled as an Euler Lagrange system by considering movement resistances, characteristics of the freewheel, and force direction of each lower limb’s four muscle groups. Stability of the developed controller is analyzed through Lyapunov-based methods.
