Modelling for control of human hand and wrist motion for robotic assisted stroke rehabilitation


Soska, Anna, Freeman, Christopher and Rogers, Eric (2011) Modelling for control of human hand and wrist motion for robotic assisted stroke rehabilitation. In, UKACC PhD Student Presentation Event, London, GB, 10 Mar 2011.

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Description/Abstract

Development of a suitable model of human hand and wrist is an elementary component of project: “Restoration of Grasp and Reach in Patients with Stroke using Electrical Stimulation (FES) and Iterative Learning Control (ILC)” (REGRIPS), carried out currently at the University of Southampton. In this work, the dynamic model of human hand and wrist, based on the specification of the project briefly described in the introductory section, is proposed. The model was obtained using Lagrange formulation for rigid multi-body system. Simulation results of application of selected ILC algorithms are also included to demonstrate the practical usage of the proposed model for the problem of hand and wrist control.

Item Type: Conference or Workshop Item (Paper)
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
R Medicine > RC Internal medicine > RC0321 Neuroscience. Biological psychiatry. Neuropsychiatry
R Medicine > RM Therapeutics. Pharmacology
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: 335308
Date Deposited: 10 Mar 2012 16:11
Last Modified: 27 Mar 2014 20:19
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/335308

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