Abstract
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.
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