Modeling and control of a novel FES driven assisted cycling mechanism

Functional Electrical Stimulation (FES) driven cycling using single muscle group, the quadriceps, is achieved using PID controller with a novel assisting mechanism represented by a flywheel with an electrical clutch. This mechanism is useful for disabled individuals whose muscles are weak and unable to push a fix-geared flywheel. The flywheel is engaged and disengaged by the clutch when necessary to assist or retard the cycling without imposing additional load on the person´s leg muscle. A comparison between this new mechanism and a previously proposed method show positive results of the new mechanism towards reducing the number of muscle stimulation which leads to delay muscle fatigue and consequently promoting prolonged FES driven cycling for paralyzed people.