IEEE Robotics & Automation Magazine - December 2021 - 36

Start
Set Stimulus
Magnitude and
Phase
Integrate
Input Stimulus
Y
Generate
End
Interrupt: Stop?
Compensatory
Stimulus
Y
N
Generate
Stimulus
Based on FI
Estimate FI
(Itotal, vcrank, Trest)
Stimulate
Leg Muscles
Asymmetric
Pedal Motion?
N
N
FI > FImodel?
Y
Change Stage
Figure 4. A flowchart of the FES bike algorithm.
Figure 6 shows the effects of the two-stage strategy based
on the FI model. Although two-stage strategies were used in
both cases, there was a difference between the results obtained
100
90
80
70
60
50
Stimulus: One Stage
Stimulus: Two Stage (Stage 1)
Stimulus: Two Stage (Stage 2)
Two-Stage Control:
Persistent Motion
One-Stage Control:
Pedal Motion Stopped
1234 5
Time (min)
Distance: One-Stage
Distance: Two-Stage
Figure 5. A comparison of distance and electrical stimuli with and without a two-stage
strategy. The stimulus under the one-stage (gray) control resulted in only 200 m of travel,
whereas the stimulus under the two-stage (orange) control resulted in a continuous
pedaling motion for a distance of greater than 200 m.
36 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2021
using the time- and FI-based strategies. For clarity, the average
stimulus under both strategies was used in each stage. In
the time-based two-stage strategy, the stage is changed
according to the set time, considering
the aforementioned characteristics of
muscle fatigue. When the time-based
strategy was used, the electrical stimulus
of stage 2 (RF) maintains for 20 s,
after then stage 1 (vastus medialis and
vastus lateralis in Figure 3) maintains
for 10 s. As a result, the pilot could
ride for 1,139 m despite the maximum
stimulation being 117 mA from 6 to
10 min. In contrast, when the FIbased
strategy was used, the pilot
could ride for 1,379 m with a maximum
stimulation of only 103 mA for
10 min. This indicates that it is more
effective to change the stimulation
magnitude and stimulation location
according to the muscle fatigue state
than to change the stimulus at a given
time. That is, the FI model-based twostage
strategy allowed the pilot to keep
the pedaling cadence relatively high,
which ensured that he could ride the
800
600
400
200
Stimulus (mA)
Distance (m)

IEEE Robotics & Automation Magazine - December 2021

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Contents
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