2014
DOI: 10.1016/j.conengprac.2014.05.009
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Iterative learning control for robotic-assisted upper limb stroke rehabilitation in the presence of muscle fatigue

Abstract: The use of iterative learning control to regulate assistive functional electrical stimulation applied to the muscles of patients undergoing robotic-assisted upper limb stroke rehabilitation has been followed through to small scale clinical trials. These trials confirmed that an increase in patient ability to complete the specified task also led to a reduction in the level of electrical stimulation required. This previous work assumed that the effects of muscle fatigue could be neglected but if a patient suffer… Show more

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Cited by 45 publications
(32 citation statements)
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“…The same setup as in [10] is considered and starts with The position of the human arm can be described by Φ = ϑ a ϑ b ϑ c ϑ d ϑ e . Using a Lagrangian approach, the differential equations describing the dynamics of the support and arm can be described as…”
Section: Introductionmentioning
confidence: 99%
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“…The same setup as in [10] is considered and starts with The position of the human arm can be described by Φ = ϑ a ϑ b ϑ c ϑ d ϑ e . Using a Lagrangian approach, the differential equations describing the dynamics of the support and arm can be described as…”
Section: Introductionmentioning
confidence: 99%
“…The torque provided by the muscle will decrease over time when the applied FES is constant. Previous research [10] used a time dependent and iteration dependent fatigue model f (t, k) given by τ i = (1 − k f t)λ k−1 τ m,i in which k f and λ are constants determining the time and iteration fatigue rates respectively. The model implies that the muscle will fatigue during a trial even if no input is applied and the arm does not move, which is counter-intuitive.…”
Section: Introductionmentioning
confidence: 99%
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“…There are several practical applications of the Hammerstein and Wiener formulations which are used to model systems with significant non-linearity in different fields. The Hammerstein model, for example, is employed in robotic therapy for describing the isometric recruitment curve, that is, the static gain relation between the stimulus activation level and steady-state output torque [23]. In the automotive industry, the battery impedance model is enhanced by introducing a Wiener static non-linearity to the ordinary equivalent circuit model [24].…”
Section: Introductionmentioning
confidence: 99%