Participation to the first Cybathlon: an overview of the FREEWHEELS team FES-cycling solution

Sijobert, Benoît; Fattal, Charles; Daubigney, Anne; Azevedo‐Coste, Christine

doi:10.4081/ejtm.2017.7120

Cited by 19 publications

(16 citation statements)

References 25 publications

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“…It has been discussed in literature on FES-walking by Bijak and colleagues, that ramp times are essential for providing “… natural movement …” as opposed to sudden ON/OFF stimulation, 19 that would lead to considerable sporadicity in movements. Ramps are often reported in cycling studies, such as Sijobert et al 38 Another matter of contention to stem from the literature relates to the inclusion, or exclusion, or ramp-up times in the duty cycle numbers. Baker et al 30 stipulate that usually ramp up and ramp down are not included in the duty cycle definition.…”

Section: Stimulation Ramp Timesmentioning

confidence: 99%

The duty cycle in Functional Electrical Stimulation research. Part II: Duty cycle multiplicity and domain reporting

2018

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In part I of this review, we introduced the duty cycle as a fundamental parameter in controlling the effect of electrical stimulation pulse trains on muscle structural and functional properties with special emphasis on fatigue. Following on from a survey of the literature, we discuss here the relative ability of intermittent and continuous stimulation to fatigue muscle. In addition, pertinent literature is explored on a more deeper level, highlighting contentions regarding the duty cycle across studies. In response to literature inconsistencies, we propose frameworks upon which the duty cycle parameter may be specified. We present the idea of domain reporting for the duty cycle, and illustrate with practical examples. In addition we dig further into the literature and present a set of notations that have been used by different researchers to report the duty cycle. We also propose the idea of the duty cycle multiple, which together with domain reporting, will help researchers understand more precisely duty cycles of electrical stimulation. As a case study, we also show how the duty cycle has been looked at by researchers in the context of pressure sore attenuation in patients. Together with part I, it is hoped that the frameworks suggested provide a complete picture of how duty cycle has been discussed across the literature, and gives researchers a more trans-theoretical basis upon which they may report the duty cycle in their studies. This may also lead to a more precise specification of electrical stimulation protocols used in patients.

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Section: Stimulation Ramp Timesmentioning

confidence: 99%

The duty cycle in Functional Electrical Stimulation research. Part II: Duty cycle multiplicity and domain reporting

2018

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“…One healthy subject was installed on a recumbent tricycle ICE Adventure R . Slight mechanical adaptations were made to adapt the tricycle for a SCI subject and are described in [7]. Feet were fixed to the pedals by means of calf support holding the ankle joint at 90 o .…”

Section: Experimental Validationmentioning

confidence: 99%

“…The different muscle activation phases are associated to the crank angle values. As already discussed in previous articles, the use of the crank angle as the input command to trigger the different muscle stimulation phases has two main disadvantages [6]: the need for a dedicated sensor such as an encoder [7] or an inertial sensor [8] to measure crank angle and the calibration phase to determine the muscle activation pattern for a given sitting position [9]. Some authors have explored the possibility to control muscle activation without defining a desired pattern a priori [10].…”

Section: Introductionmentioning

confidence: 99%

New Approach of Cycling Phases Detection to Improve FES-Pedaling in SCI Individuals

Baptista

Sijobert

Coste

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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FES allows spinal cord injured individuals to propel tricycles by means of their own leg power. The stimulation patterns are in most of the cases predefined and muscle activation triggered on the basis of the pedal position. This requires an empirical tuning to fit the pattern to the pilot sitting position and distance to crank with no possible generalization and no adaptive properties. The aim of the present article is to introduce a new approach of motion segmentation based on inertial measurement units located on the cyclist legs with the final aim to predict the optimal pedaling force evolution. Results obtained with one healthy subject in different cycling conditions are presented and the application to FES-cycling discussed.

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“…The final users are either medical practitioners or the pilots themselves, and providing intuitive interfaces to adapt the stimulation patterns in a simple and quick manner would probably be valuable in FES-cycling practice. Based on the arguments of Wiesener et al, and on our personal experience in FES cycling [30,31,32], we present here a pilot study focused on the further simplification of the control of stimulation delivery while ensuring a maximum ease of use, adaptability and tailored solution for the user using two inertial sensors only and no a priori information on cycling device geometry, nor pilot anthropometric data.…”

Section: Introductionmentioning

confidence: 99%

FES-Induced Cycling in Complete SCI: A Simpler Control Method Based on Inertial Sensors

Sijobert

Guillou

Fattal³

et al. 2019

Sensors

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This article introduces a novel approach for a functional electrical stimulation (FES) controller intended for FES-induced cycling based on inertial measurement units (IMUs). This study aims at simplifying the design of electrical stimulation timing patterns while providing a method that can be adapted to different users and devices. In most of studies and commercial devices, the crank angle is used as an input to trigger stimulation onset. We propose instead to use thigh inclination as the reference information to build stimulation timing patterns. The tilting angles of both thighs are estimated from one inertial sensor located above each knee. An IF–THEN rule algorithm detects, online and automatically, the thigh peak angles in order to start and stop the stimulation of quadriceps muscles, depending on these events. One participant with complete paraplegia was included and was able to propel a recumbent trike using the proposed approach after a very short setting time. This new modality opens the way for a simpler and user-friendly method to automatically design FES-induced cycling stimulation patterns, adapted to clinical use, for multiple bike geometries and user morphologies.

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Participation to the first Cybathlon: an overview of the FREEWHEELS team FES-cycling solution

Cited by 19 publications

References 25 publications

The duty cycle in Functional Electrical Stimulation research. Part II: Duty cycle multiplicity and domain reporting

The duty cycle in Functional Electrical Stimulation research. Part II: Duty cycle multiplicity and domain reporting

New Approach of Cycling Phases Detection to Improve FES-Pedaling in SCI Individuals

FES-Induced Cycling in Complete SCI: A Simpler Control Method Based on Inertial Sensors

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