FES based Rehabilitation of the Upper Limb using Input/Output Linearization and ILC
FES based Rehabilitation of the Upper Limb using Input/Output Linearization and ILC
To provide effective stroke rehabilitation, a control scheme is developed for upper arm tracking in 3D space using electrical stimulation. In accordance with clinical need, the case where stimulation is applied to two muscles in the arm and shoulder is considered, with the arm supported against gravity by an exoskeletal mechanism. An upper limb model with five degrees of freedom is first developed to represent the unconstrained upper arm, and an input/output linearization controller is applied to decouple the actuated joint angles, and combined with a state-feedback optimal tracking controller. Linear iterative learning controllers are then designed to enforce precise tracking over repeated attempts at the task, and stability conditions for the unactuated joint angles are given. Experimental results confirm practical performance.
4825-4830
Freeman, Christopher
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Tong, Daisy
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Meadmore, Katie
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Hughes, Ann-Marie
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Rogers, Eric
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Burridge, Jane
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2012
Freeman, Christopher
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Tong, Daisy
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Meadmore, Katie
4b63707b-4c44-486c-958e-e84645e7ed33
Hughes, Ann-Marie
11239f51-de47-4445-9a0d-5b82ddc11dea
Rogers, Eric
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Burridge, Jane
7c453775-c3ae-4d55-99af-2ed8600ca680
Freeman, Christopher, Tong, Daisy, Meadmore, Katie, Hughes, Ann-Marie, Rogers, Eric and Burridge, Jane
(2012)
FES based Rehabilitation of the Upper Limb using Input/Output Linearization and ILC.
2012 American Control Conference, Montreal.
27 - 29 Jun 2012.
.
Record type:
Conference or Workshop Item
(Paper)
Abstract
To provide effective stroke rehabilitation, a control scheme is developed for upper arm tracking in 3D space using electrical stimulation. In accordance with clinical need, the case where stimulation is applied to two muscles in the arm and shoulder is considered, with the arm supported against gravity by an exoskeletal mechanism. An upper limb model with five degrees of freedom is first developed to represent the unconstrained upper arm, and an input/output linearization controller is applied to decouple the actuated joint angles, and combined with a state-feedback optimal tracking controller. Linear iterative learning controllers are then designed to enforce precise tracking over repeated attempts at the task, and stability conditions for the unactuated joint angles are given. Experimental results confirm practical performance.
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Published date: 2012
Additional Information:
Event Dates: June 27 - 29
Venue - Dates:
2012 American Control Conference, Montreal, 2012-06-27 - 2012-06-29
Organisations:
EEE, Southampton Wireless Group
Identifiers
Local EPrints ID: 273018
URI: http://eprints.soton.ac.uk/id/eprint/273018
PURE UUID: 510e45b2-20a3-46f6-9e01-7fa6e91e1031
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Date deposited: 19 Nov 2011 18:47
Last modified: 15 Mar 2024 03:25
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Contributors
Author:
Christopher Freeman
Author:
Daisy Tong
Author:
Eric Rogers
Author:
Jane Burridge
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