Iterative Learning Control of Upper Limb Reaching using Functional Electrical Stimulation
Iterative Learning Control of Upper Limb Reaching using Functional Electrical Stimulation
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.
13444-13449
Freeman, Christopher
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Davies, Iain
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Lewin, Paul
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Rogers, Eric
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2008
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Davies, Iain
d7a3cfdd-0fc6-4e86-90af-984890430a4a
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Freeman, Christopher, Davies, Iain, Lewin, Paul and Rogers, Eric
(2008)
Iterative Learning Control of Upper Limb Reaching using Functional Electrical Stimulation.
The 17th IFAC World Congress, July 6 - 11, 2008, Seoul, Korea.
.
Record type:
Conference or Workshop Item
(Paper)
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.
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Published date: 2008
Venue - Dates:
The 17th IFAC World Congress, July 6 - 11, 2008, Seoul, Korea, 2008-01-01
Organisations:
EEE, Southampton Wireless Group
Identifiers
Local EPrints ID: 265325
URI: http://eprints.soton.ac.uk/id/eprint/265325
PURE UUID: 303bc085-20ef-47e4-aba7-bea6b94cb412
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Date deposited: 15 Mar 2008 07:39
Last modified: 11 Dec 2024 02:39
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