Abstract-Aim:The aim of this study was to investigate feedback control strategies for integration of electric motor assist and functional electrical stimulation (FES) for paraplegic cycling, with particular focus on development of a testbed for exercise testing in FES cycling, in which both cycling cadence and workrate are simultaneously well controlled and contemporary physiological measures of exercise performance derived. A second aim was to investigate the possible benefits of the approach for mobile, recreational cycling.Methods: A recumbent tricycle with an auxiliary electric motor is used, which is adapted for paraplegic users, and instrumented for stimulation control. We propose a novel integrated control strategy which simultaneously provides feedback control of leg power output (via automatic adjustment of stimulation intensity) and cycling cadence (via electric motor control). Both loops are designed using system identification and analytical (model-based) feedback design methods. Ventilatory and pulmonary gas exchange response profiles are derived using a portable system for real-time breath-by-breath acquisition.Results: We provide indicative results from one paraplegic subject in which a series of feedback-control tests illustrate accurate control of cycling cadence, leg power control, and external disturbance rejection. We also provide physiological response profiles from a submaximal exercise step test and a maximal incremental exercise test, as facilitated by the control strategy. Conclusion: The integrated control strategy is effective in facilitating exercise testing under conditions of well-controlled cadence and power output. Our control approach significantly extends the achievable workrate range and enhances exercise-test sensitivity for FES cycling, thus allowing a more stringent characterization of physiological response profiles and estimation of key parameters of aerobic function. We further conclude that the control approach can significantly improve the overall performance of mobile recreational cycling.Index Terms-Cardiopulmonary exercise testing, control systems, functional electrical stimulation (FES), lower limb cycling, spinal-cord injury (SCI) rehabilitation.

Aim: The energy efficiency of FES-cycling in spinal cord injured subjects is very much lower than that of normal cycling, and efficiency is dependent upon the parameters of muscle stimulation. We investigated measures which can be used to evaluate the effect on cycling performance of changes in stimulation parameters, and which might therefore be used to optimise them. We aimed to determine whether oxygen-cost and stimulation-cost measurements are sensitive enough to allow discrimination between the efficacy of different activation ranges for stimulation of each muscle group during constant-power cycling. Methods:We employed a custom FES-cycling ergometer system, with accurate control of cadence and stimulated exercise workrate. Two sets of muscle activation angles ("stimulation patterns"), denoted "P1" and "P2", were applied repeatedly (eight times each) during constant-power cycling, in a repeated measures design with a single paraplegic subject. Pulmonary oxygen uptake was measured in real time and used to determine the oxygen cost of the exercise. A new measure of stimulation cost of the exercise is proposed, which represents the total rate of stimulation charge applied to the stimulated muscle groups during cycling. A number of energy-efficiency measures were also estimated.Results: Average oxygen cost and stimulation cost of P1 were found to be significantly lower than those for P2 (paired t-test, p<0.05): oxygen costs were 0.56 ± 0.03 l · min −1 and 0.61 ± 0.04 l · min −1 (mean ± sd), respectively; stimulation costs were 74.91 ± 12.15 mC · min −1 and 100.30 ± 14.78 mC · min −1 (mean ± sd), respectively. Correspondingly, all efficiency estimates for P1 were greater than those for P2. Conclusion:Oxygen-and stimulation-cost measures both allow discrimination between the efficacy of different muscle activation patterns during constant-power FES-cycling. However, stimulation cost is more easily determined in real time, and responds more rapidly and with greatly improved signal-to-noise properties than the ventilatory oxygen uptake measurements required for estimation of oxygen cost. These measures may find utility in the adjustment of stimulation patterns for achievement of optimal cycling performance.

No abstract