Freeman, Christopher, Davies, Iain, Lewin, Paul and Rogers, Eric
Iterative Learning Control of Upper Limb Reaching using Functional Electrical Stimulation
At The 17th IFAC World Congress, July 6 - 11, 2008, Seoul, Korea.
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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.
Conference or Workshop Item
|Venue - Dates:
||The 17th IFAC World Congress, July 6 - 11, 2008, Seoul, Korea, 2008-01-01
||EEE, Southampton Wireless Group
||15 Mar 2008 07:39
||17 Apr 2017 19:21
|Further Information:||Google Scholar|
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