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RETRACTED ARTICLE: Cascade controller design and stability analysis in FES-aided upper arm stroke rehabilitation robotic system

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This article was retracted on 05 October 2015

Abstract

A three-dimensional stroke rehabilitation system is studied which combines the functional electrical stimulation (FES) with a robotic support to provide assistance to stroke patients who are required to perform upper extremity trajectory-tracking exercises with their residual voluntary efforts. When not enough voluntary efforts can be supplied, FES-based assistance is provided by applying electrical stimulation to the actuated muscles. In order to realize more rapid and accurate control of trajectory tracking, a new cascade control scheme is developed for the combined muscle and supported arm system. The stability of the cascade-controlled system and the internal stability of the unactuated dynamics are rigorously studied. The parameter optimal iterative learning control is then employed to further improve the trajectory-tracking accuracy of the cascade-based robotic system. Performance evaluation results confirm the effectiveness of the proposed method for upper arm trajectory-tracking-oriented stroke rehabilitation.

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Acknowledgments

The authors are grateful to the handling editor and reviewers for their valuable comments and suggestions. Prof. Eric Rogers, Dr. Chu Bing and Dr. Christopher Freeman at University of Southampton are highly appreciated for their stimulating discussions and judicious suggestions.

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Authors and Affiliations

  1. School of Automation, Nanjing University of Science and Technology, Nanjing , 210094, China

    Wenkang Xu, Chenxiao Cai & Yun Zou

Authors
  1. Wenkang Xu
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  2. Chenxiao Cai
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  3. Yun Zou
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Corresponding author

Correspondence to Chenxiao Cai.

Additional information

The work has been supported by the National Natural Science Foundation of China under Grant Nos. 61174038, 61104064, 61170054 and Fundamental Research Funds for the Central Universities under Grant No. 30920140112005.

This article has been retracted by the Editor-in-Chief of Nonlinear Dynamics. The stability analysis, which comprises the three-page entirety of Section 4, is an equation-by-equation copy, included without credit or citation, of Section III.C of the paper "Freeman, Christopher, Tong, Daisy, Meadmore, Katie, Hughes, Ann-Marie, Rogers, Eric and Burridge, Jane (2012) FES based Rehabilitation of the Upper Limb using Input/Output Linearization and ILC. In, 2012 American Control Conference, Montréal, 27 - 29 Jun 2012. pp 4825-4830

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Xu, W., Cai, C. & Zou, Y. RETRACTED ARTICLE: Cascade controller design and stability analysis in FES-aided upper arm stroke rehabilitation robotic system. Nonlinear Dyn 79, 1099–1114 (2015). https://doi.org/10.1007/s11071-014-1726-1

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  • DOI: https://doi.org/10.1007/s11071-014-1726-1

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