Design and control of an upper arm FES workstation for rehabilitation
Design and control of an upper arm FES workstation for rehabilitation
An overview is provided of the design, operation and performance of an experimental test facility that has been developed for stroke rehabilitation. The aim of the system is to improve sensory-motor function of the impaired upper limb, and it has recently been used in clinical trials with stroke participants. During treatment subjects were seated at the workstation and their impaired arm strapped to the robotic end-effector. Their task was to follow elliptical trajectories that were projected onto a target above their arm, using voluntary control with the addition of electrical stimulation mediated by advanced control schemes. The design of the experimental system is first summarised, and then details are presented of the modelling, identification and control techniques used by the workstation over the course of treatment.
66-72
Freeman, C.
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Hughes, A-M
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Burridge, J.
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Chappell, P.
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Lewin, P.L.
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Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
23 June 2009
Freeman, C.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Hughes, A-M
11239f51-de47-4445-9a0d-5b82ddc11dea
Burridge, J.
0110e9ea-0884-4982-a003-cb6307f38f64
Chappell, P.
2d2ec52b-e5d0-4c36-ac20-0a86589a880e
Lewin, P.L.
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, E.
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, C., Hughes, A-M, Burridge, J., Chappell, P., Lewin, P.L. and Rogers, E.
(2009)
Design and control of an upper arm FES workstation for rehabilitation.
2009 IEEE 11th International Conference on Rehabilitation Robotics (ICORR 2009), Kyoto, Japan.
23 - 26 Jun 2009.
.
Record type:
Conference or Workshop Item
(Other)
Abstract
An overview is provided of the design, operation and performance of an experimental test facility that has been developed for stroke rehabilitation. The aim of the system is to improve sensory-motor function of the impaired upper limb, and it has recently been used in clinical trials with stroke participants. During treatment subjects were seated at the workstation and their impaired arm strapped to the robotic end-effector. Their task was to follow elliptical trajectories that were projected onto a target above their arm, using voluntary control with the addition of electrical stimulation mediated by advanced control schemes. The design of the experimental system is first summarised, and then details are presented of the modelling, identification and control techniques used by the workstation over the course of treatment.
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Published date: 23 June 2009
Venue - Dates:
2009 IEEE 11th International Conference on Rehabilitation Robotics (ICORR 2009), Kyoto, Japan, 2009-06-23 - 2009-06-26
Organisations:
Faculty of Health Sciences, EEE, Southampton Wireless Group
Identifiers
Local EPrints ID: 267104
URI: http://eprints.soton.ac.uk/id/eprint/267104
PURE UUID: 99edf81a-63bb-451c-a7bb-f0e3ab34a5a1
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Date deposited: 13 Feb 2009 16:06
Last modified: 15 Mar 2024 03:25
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Contributors
Author:
C. Freeman
Author:
P. Chappell
Author:
P.L. Lewin
Author:
E. Rogers
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