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Iterative Learning Control of the Redundant Upper Limb for Rehabilitation

Iterative Learning Control of the Redundant Upper Limb for Rehabilitation
Iterative Learning Control of the Redundant Upper Limb for Rehabilitation
In this paper a non-linear iterative learning control approach is developed for application to stroke rehabilitation. The subject is seated in a robotic workstation and functional electrical stimulation is applied to their triceps muscle to assist the tracking of trajectories in a horizontal plane. In addition to rotation about vertical axes through the shoulder and elbow joints, the forearm is also permitted to elevate in order to provide full arm extension. A dynamic model of the human arm is first developed, and then constraints are introduced in order to overcome kinematic redundancy. The expressions necessary to implement the control law are then derived, and experimental results confirm that it is capable of achieving a high level of performance in practice.
978-1-4244-7425-7
1278-1283
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Owens, D H
d1838c62-b96e-4710-9e5a-ed097fae28f6
Freeman, C T
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, P L
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, E
611b1de0-c505-472e-a03f-c5294c63bb72
Owens, D H
d1838c62-b96e-4710-9e5a-ed097fae28f6

Freeman, C T, Lewin, P L, Rogers, E and Owens, D H (2010) Iterative Learning Control of the Redundant Upper Limb for Rehabilitation. 2010 American Control Conference (ACC), United States. 30 Jun - 02 Jul 2010. pp. 1278-1283 .

Record type: Conference or Workshop Item (Paper)

Abstract

In this paper a non-linear iterative learning control approach is developed for application to stroke rehabilitation. The subject is seated in a robotic workstation and functional electrical stimulation is applied to their triceps muscle to assist the tracking of trajectories in a horizontal plane. In addition to rotation about vertical axes through the shoulder and elbow joints, the forearm is also permitted to elevate in order to provide full arm extension. A dynamic model of the human arm is first developed, and then constraints are introduced in order to overcome kinematic redundancy. The expressions necessary to implement the control law are then derived, and experimental results confirm that it is capable of achieving a high level of performance in practice.

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More information

Published date: 30 June 2010
Additional Information: Event Dates: June 30 - July 2, 2010
Venue - Dates: 2010 American Control Conference (ACC), United States, 2010-06-30 - 2010-07-02
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 267870
URI: http://eprints.soton.ac.uk/id/eprint/267870
ISBN: 978-1-4244-7425-7
PURE UUID: a7cc0e56-8a4c-48dc-8f46-637ccc77b06e
ORCID for E Rogers: ORCID iD orcid.org/0000-0003-0179-9398

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Date deposited: 14 Sep 2009 18:58
Last modified: 20 Jul 2019 01:23

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