Iterative Learning Control of Upper Limb Reaching using Functional Electrical Stimulation


Freeman, Christopher, Davies, Iain, Lewin, Paul and Rogers, Eric (2008) Iterative Learning Control of Upper Limb Reaching using Functional Electrical Stimulation. In, The 17th IFAC World Congress, July 6 - 11, 2008, Seoul, Korea , 13444-13449.

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Description/Abstract

An iterative learning control scheme for the application of functional electrical stimulation to the human arm is designed and implemented. The task is to track trajectories in the horizontal plane and stimulation is applied to the triceps muscle. A model of the arm is first derived which includes assistive torque about the shoulder provided by a robotic arm. A linearising controller is then designed and a linear ILC algorithm is applied to the resulting system. Experimental results show that a high level of performance can be achieved in practice, and provide justification for the system to be subsequently used by stroke patients for rehabilitation.

Item Type: Conference or Workshop Item (Paper)
Divisions: Faculty of Physical Sciences and Engineering > Electronics and Computer Science > Comms, Signal Processing & Control
Faculty of Physical Sciences and Engineering > Electronics and Computer Science > EEE
ePrint ID: 265325
Date Deposited: 15 Mar 2008 07:39
Last Modified: 27 Mar 2014 20:10
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/265325

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