Abstract: Provided herein is a method, apparatus, and system for teleoperated, functional electric stimulation actuated rehabilitative cycling. Methods may include: receiving, at a master system, rotational input generating master system sensor input having a master system cadence; providing the master system sensor input including the master system cadence to a controller based on the rotational input from a rehabilitation participant or a remote therapist received at the master system; receiving, at a slave system, rotational input from the rehabilitation participant generating slave sensor input having a slave system cadence; providing the slave system sensor input including the slave system cadence to the controller based on the rotational input from the participant received at the slave system; and providing, from the controller, feedback through the master system in response to a difference between the master system cadence and the slave system cadence.

Abstract: Provided herein is a method, apparatus, and system a motor-assisted stationary rehabilitation cycle employing a closed-loop control scheme. Methods may include: determining a desired set point rotational speed of a pair of pedals connected to a crankshaft; determining an upper bound and a lower bound about the desired set point rotational speed; determining a crankshaft rotational speed; increasing torque using a motor connected, at least indirectly, to the crankshaft in a first rotational direction, resisting rotation of the crankshaft in response to the rotational speed of the crankshaft approaching the upper bound; and increasing torque using the motor in a second rotational direction, opposite the first rotational direction in response to the rotational speed of the crankshaft approaching the lower bound.

Abstract: Provided herein is a method, apparatus, and system for teleoperated, functional electric stimulation actuated rehabilitative cycling. Methods may include: receiving, at a master system, rotational input generating master system sensor input having a master system cadence; providing the master system sensor input including the master system cadence to a controller based on the rotational input from a rehabilitation participant or a remote therapist received at the master system; receiving, at a slave system, rotational input from the rehabilitation participant generating slave sensor input having a slave system cadence; providing the slave system sensor input including the slave system cadence to the controller based on the rotational input from the participant received at the slave system; and providing, from the controller, feedback through the master system in response to a difference between the master system cadence and the slave system cadence.