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Iterative Learning Control of Upper Limb Reaching using Functional Electrical Stimulation

Record type: Conference or Workshop Item (Paper)

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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Citation

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

More information

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

Catalogue record

Date deposited: 15 Mar 2008 07:39
Last modified: 18 Jul 2017 07:26

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Contributors

Author: Iain Davies
Author: Paul Lewin
Author: Eric Rogers

University divisions


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