Modeling and simulation on FES cycling training system

Aiming to study FES cycling system, the mathematics model and simulation were presented. The model includes pattern generator, stimulation-joint torque and man-machine kinetic model. Based on three muscles group state, the crank angle and velocity when the joint extending and flexing, the pattern generator model was built. Optimizing the stimulative time sort, the final stimulative pattern was explored. By calculating muscle active, muscle maximal force, the characteristic of muscle force-length and muscle force-velocity under signal stimulation, the electric stimulating muscle model, stimulative muscle force and the torque on the joint can be got. Based on Lagrange equation and joints torque, the man-machine kinetic model was built. Using typical body data and Simulink platform, the relationship of kinetics among the stimulation signal, muscles, joints and crank was found using the method of iteration and difference to solve the system model. From the experimental data of SCI patient on the system, comparing the results of crank torque and crank angle between simulation and experiment, it is showed the model of FES cycling is feasible.