The University of Southampton
University of Southampton Institutional Repository

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

Modelling for control of human hand and wrist motion for robotic assisted stroke rehabilitation
Modelling for control of human hand and wrist motion for robotic assisted stroke rehabilitation
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.
Soska, Anna
fbe4898c-46fd-415e-b231-8626a4ccb8e7
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Soska, Anna
fbe4898c-46fd-415e-b231-8626a4ccb8e7
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72

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

Full text not available from this repository.

More information

Published date: 10 March 2011
Venue - Dates: UKACC PhD Student Presentation Event, London, 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
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 10 Mar 2012 16:11
Last modified: 01 Oct 2020 01:31

Export record

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×