Details

Autor(en) / Beteiligte

• Freeman, Chris

Titel

Control System Design for Electrical Stimulation in Upper Limb Rehabilitation : Modelling, Identification and Robust Performance [electronic resource]

Auflage

1st ed. 2016

Ort / Verlag

Cham : Springer International Publishing

Erscheinungsjahr

2016

Link zum Volltext

• SpringerLink Books - AutoHoldings

Beschreibungen/Notizen

• Description based upon print version of record.
• Includes bibliographical references at the end of each chapters.
• Introduction.-Modelling and Identification -- Combined FES & Robotic Upper Limb Dynamics -- Model Identification -- Feedback Control Design -- Iterative Learning Control Design -- Clinical Application: Multiple Sclerosis -- Constrained ILC for Human Motor Control -- Clinical Application: Goal-orientated Stroke Rehabilitation -- Electrode Array-based Stimulation -- Clinical Application: Fully Functional Stroke Rehabilitation -- Conclusions and Future Research Directions.
• 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.
• English