An FES cycling control system based on CPG

This paper presents a scientific strategy for cycling induced by the functional electrical stimulation. In order to simulate the FES-cycling movement produced by human body, a neuro-musculo-skeletal model containing 16 segments and 186 muscles is developed, which can simulate human movements precisely. This model contains mathematical model of electrically stimulated skeletal muscles. Having known the kinematics and dynamics of the model, we design an FES-cycling control system based on the central pattern generator (CPG), which can produce rhythm stimulus to produce desired torque and generate rhythm cycling movements. And an approach to control multiple muscles is proposed. In the end of this paper, the simulation results are provided.