This paper proposes an FES upper and lower limbs interlocking motion control system to induce periodic rhythm for rehabilitation of the interlocking rhythms of upper and lower limbs during exercise, such as walking. This system, which consists of the human body and the proposed mechanism, can be regarded as a closed chain mechanism with a six-link and five-joint system. In particular, input force is modeled by considering the monoarticular and biarticular muscle groups as actuators. Because the effective muscle force values are very different, inputs of upper and lower limbs are modeled respectively. The control objective can be achieved by RISE control for the FES upper and lower limbs interlocking motion control system.

This paper presents a pose synchronization method for semi-autonomous dynamic robotic swarms with a passivityshort human operator. In the human-robot network, a human operator sends a command signal to and receives visual information from only a part of the robotic group. In this setting, the proposed dynamic control scheme achieves not only pose synchronization of all mobile robots but also convergence to the reference pose that the human operator specifies. The main advantage of the proposed method is to guarantee convergence of not only the position but also the orientation to the reference ones in the human-robot network. Finally, we provide human-in-the-loop simulation results through the human operation using a tablet PC to illustrate the performance of the proposed control method.

This paper considers an FES-supported standing-up control system that incorporates the center of mass (COM) motion for rehabilitation of patients with neurological disabilities. The COM motion is controlled by electrical current input which is delivered through the upper limbs and adjusted according to the velocity of the COM motion. The upper limbs should be given as minimum input as possible to reduce the strain on users since control input is also delivered to the lower limbs to activate the standing-up motion. Therefore, the proposed controller does not send the input current to the upper limbs when the tracking error is small by using zeroing control barrier function (ZCBF). Experimental results are presented to validate the effectiveness of the proposed method in comparison to the previous method.

This paper considers the control method for functional electrical stimulation (FES) alternate knee bending and stretching trike system that takes into account the running velocity in outdoor environments for rehabilitation for patients with a motor system disorder (e.g., spinal cord injury or Parkinson's disease). The control objective of the proposed controller is to make the running velocity of the trike follow the desired one. FES trike and a rider are modeled by considering running resistances, characteristics of the freewheel, and force direction of each lower limb's 2 muscle groups. Stability of the developed controller is analyzed through Lyapunov-based methods.

A cycling system using functional electrical stimulation (FES) provides effective rehabilitation for patients with neurological disorders. Designing a FES-based cycling system with antagonistic bilateral muscles and Repetitive learning controller (RLC) can reduce physical discomfort for patients. In addition, previous studies have shown that control measurements require human body parameters, and thus, it is difficult to make control measurements that correspond to individual users. Therefore, in this paper, we constructed the FES cycling system that considers the antagonistic biarticular muscles using RLC and a semi-global control law that does not require human body parameters The stability of the controller was determined in the Lyapunov's stability theorem, and the asymptotic stability was proved.

This paper presents passivity-based visual feedback control for an endpoint closed-loop system with a movable camera. The objective of the system is that a controlled mobile vehicle tracks a target object vehicle by using only aerial vehicle's visual information. First, a brief summary of the estimation and pose error systems for the camera-mounted aerial vehicle is presented. Second, we design a novel nonlinear observer to estimate the pose of the controlled mobile vehicle. Next, we propose a visual feedback control law for the constructed visual motion error system based on the passivity. After discussing stability analysis of the closed-loop system through Lyapunov stability theorem, simulation results are provided to illustrate the performance of the proposed control method.

In this paper, we consider a vision-navigated bilateral control for master-slave teleoperation system. Firstly, a brief summary of the passivity-based visual feedback system is provided. Next, a vision-navigated teleoperation system is constructed by combining the visual feedback system and the master-slave teleoperation system. After that, we propose the vision-navigated bilateral control law and discuss the stability analysis based on the Lyapunov method. Finally, the simulation results show the validity of the proposed vision-navigated bilateral control.

This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.