Control system design for electrical stimulation in upper limb rehabilitation: modelling, identification and robust performance
Control system design for electrical stimulation in upper limb rehabilitation: modelling, identification and robust performance
This book presents a comprehensive framework for model-based electrical stimulation (ES) controller design, covering the whole process needed to develop a system for helping people with physical impairments perform functional upper limb tasks such as eating, grasping and manipulating objects.
The book first demonstrates procedures for modelling and identifying biomechanical models of the response of ES, covering a wide variety of aspects including mechanical support structures, kinematics, electrode placement, tasks, and sensor locations. It then goes on to demonstrate how complex functional activities of daily living can be captured in the form of optimisation problems, and extends ES control design to address this case. It then lays out a design methodology, stability conditions, and robust performance criteria that enable control schemes to be developed systematically and transparently, ensuring that they can operate effectively in the presence of realistic modelling uncertainty, physiological variation and measurement noise.
978-3-319-25704-4
Freeman, C.T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
1 January 2016
Freeman, C.T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Freeman, C.T.
(2016)
Control system design for electrical stimulation in upper limb rehabilitation: modelling, identification and robust performance
,
1 ed.
Cham.
Springer Cham, 192pp.
Abstract
This book presents a comprehensive framework for model-based electrical stimulation (ES) controller design, covering the whole process needed to develop a system for helping people with physical impairments perform functional upper limb tasks such as eating, grasping and manipulating objects.
The book first demonstrates procedures for modelling and identifying biomechanical models of the response of ES, covering a wide variety of aspects including mechanical support structures, kinematics, electrode placement, tasks, and sensor locations. It then goes on to demonstrate how complex functional activities of daily living can be captured in the form of optimisation problems, and extends ES control design to address this case. It then lays out a design methodology, stability conditions, and robust performance criteria that enable control schemes to be developed systematically and transparently, ensuring that they can operate effectively in the presence of realistic modelling uncertainty, physiological variation and measurement noise.
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Published date: 1 January 2016
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EEE
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Local EPrints ID: 381773
URI: http://eprints.soton.ac.uk/id/eprint/381773
ISBN: 978-3-319-25704-4
PURE UUID: 4e7d878f-1bec-44fe-93c8-9c6348242897
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Date deposited: 20 Sep 2015 08:40
Last modified: 14 Mar 2024 21:20
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C.T. Freeman
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