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Ruppel, M.; Seel, T.; Dogramadzi, S. (2016)
Publisher: IEEE
Languages: English
Types: Unknown
Subjects:

Classified by OpenAIRE into

mesheuropmc: body regions
Worldwide stroke is a leading cause for disability\ud and the demand for rehabilitation devices and everyday life\ud assistance is still high. To address this demand, we consider a combination of Functional Electrical Stimulation (FES) of the forearm muscles and Iterative Learning Control (ILC) for hand rehabilitation. We implement an ILC scheme to control the extension and flexion of the paretic fingers via two FES channels and propose a piecewise linear parametrization of the domain of admissible stimulation intensities.\ud Additionally, an open-loop approach is introduced that allows the control of the paretic-hand fingers based on the motions of the healthy-hand fingers.\ud Experiments with a healthy subject show that the designed\ud controllers achieve hand motions that follow various selectable references within few iteration steps, while the open-loop approach mirrors the motion of the healthy-hand fingers onto the paretic-hand fingers.
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