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However, some limitations, for example, lack of optimal control strategies that would delay fatigue, may still prevent this technology from achieving its full potential. In this work, we performed experiments on a person with complete spinal cord injury using a stationary tadpole trike when both cadence tracking and disturbance rejection were evaluated. In addition, two sets of experiments were conducted 6 months apart and considering activation of different muscles. The results showed that reference tracking is achieved above the cadence of 25 rpm with mean absolute errors between 1.9 and 10% when only quadriceps are activated. The disturbance test revealed that interferences may drop the cadence but do not interrupt a continuous movement if the cadence does not drop below 25 rpm, again when only quadriceps are activated. When other muscle groups were added, strong spasticity caused larger errors on reference tracking, but not when a disturbance was applied. In addition, spasticity caused the last experiments to result in less smooth cycling.<\/jats:p>","DOI":"10.1111\/aor.13055","type":"journal-article","created":{"date-parts":[[2017,11,17]],"date-time":"2017-11-17T08:35:15Z","timestamp":1510907715000},"source":"Crossref","is-referenced-by-count":12,"title":["Cadence Tracking and Disturbance Rejection in Functional Electrical Stimulation Cycling for Paraplegic Subjects: A Case Study"],"prefix":"10.1111","volume":"41","author":[{"given":"Lucas O. da","family":"Fonseca","sequence":"first","affiliation":[{"name":"LARA \u2013 Laborat\u00f3rio de Automa\u00e7\u00e3o e Rob\u00f3tica and Programa de P\u00f3s\u2010Gradua\u00e7\u00e3o em Engenharia de Sistemas e de Automa\u00e7\u00e3o, Departamento de Engenharia El\u00e9trica, Faculdade de Tecnologia Bras\u00edlia Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ant\u00f4nio P.L.","family":"B\u00f3","sequence":"additional","affiliation":[{"name":"LARA \u2013 Laborat\u00f3rio de Automa\u00e7\u00e3o e Rob\u00f3tica and Programa de P\u00f3s\u2010Gradua\u00e7\u00e3o em Engenharia de Sistemas e de Automa\u00e7\u00e3o, Departamento de Engenharia El\u00e9trica, Faculdade de Tecnologia Bras\u00edlia Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juliana A.","family":"Guimar\u00e3es","sequence":"additional","affiliation":[{"name":"NTAAI \u2013 N\u00facleo de Tecnologia Assistiva, Acessibilidade e Inova\u00e7\u00e3o and Programa de P\u00f3s\u2010Gradua\u00e7\u00e3o em Ci\u00eancias e Tecnologias em Sa\u00fade, Faculdade de Ceil\u00e2ndia Universidade de Bras\u00edlia Bras\u00edlia Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Miguel E.","family":"Gutierrez","sequence":"additional","affiliation":[{"name":"LARA \u2013 Laborat\u00f3rio de Automa\u00e7\u00e3o e Rob\u00f3tica and Programa de P\u00f3s\u2010Gradua\u00e7\u00e3o em Engenharia de Sistemas e de Automa\u00e7\u00e3o, Departamento de Engenharia El\u00e9trica, Faculdade de Tecnologia Bras\u00edlia Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Emerson","family":"Fachin\u2010Martins","sequence":"additional","affiliation":[{"name":"NTAAI \u2013 N\u00facleo de Tecnologia Assistiva, Acessibilidade e Inova\u00e7\u00e3o and Programa de P\u00f3s\u2010Gradua\u00e7\u00e3o em Ci\u00eancias e Tecnologias em Sa\u00fade, Faculdade de Ceil\u00e2ndia Universidade de Bras\u00edlia Bras\u00edlia Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2017,11,17]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1525-1594.2008.00622.x"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1007\/s40279-014-0250-2"},{"key":"e_1_2_9_4_1","doi-asserted-by":"crossref","unstructured":"MazzoleniS StampacchiaG GeriniA TombiniT CarrozzaMC.FES\u2010cycling training in spinal cord injured patients. 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