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Modelling for control of human hand and wrist motion for robotic assisted stroke rehabilitation

Soska, Anna, Freeman, Christopher and Rogers, Eric (2011) Modelling for control of human hand and wrist motion for robotic assisted stroke rehabilitation At UKACC PhD Student Presentation Event, United Kingdom. 10 Mar 2011.

Record type: Conference or Workshop Item (Paper)

Abstract

Development of a suitable model of human hand and wrist is an elementary component of project: “Restoration of Grasp and Reach in Patients with Stroke using Electrical Stimulation (FES) and Iterative Learning Control (ILC)” (REGRIPS), carried out currently at the University of Southampton. In this work, the dynamic model of human hand and wrist, based on the specification of the project briefly described in the introductory section, is proposed. The model was obtained using Lagrange formulation for rigid multi-body system. Simulation results of application of selected ILC algorithms are also included to demonstrate the practical usage of the proposed model for the problem of hand and wrist control.

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More information

Published date: 10 March 2011
Venue - Dates: UKACC PhD Student Presentation Event, United Kingdom, 2011-03-10 - 2011-03-10
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 335308
URI: http://eprints.soton.ac.uk/id/eprint/335308
PURE UUID: d72dbf32-f131-4107-b44d-cdbddf0f3b79

Catalogue record

Date deposited: 10 Mar 2012 16:11
Last modified: 18 Jul 2017 06:10

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Contributors

Author: Anna Soska
Author: Eric Rogers

University divisions

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