DocumentCode
1578899
Title
An Admittance Control Scheme for a Robotic Upper- Limb Stroke Rehabilitation System
Author
Culmer, P. ; Jackson, A. ; Levesley, M.C. ; Savage, J. ; Richardson, R. ; Cozens, J.A. ; Bhakta, B.B.
Author_Institution
Dept. of Mechanical Eng., Leeds Univ.
fYear
2006
Firstpage
5081
Lastpage
5084
Abstract
This paper presents a control scheme for a dual robot upper-limb stroke rehabilitation system. A model of the human arm is outlined and used to formulate an admittance controller operating in human upper-limb joint space. Initial results are provided together with a discussion of future work
Keywords
medical robotics; patient rehabilitation; admittance control scheme; human arm model; robotic upper-limb stroke rehabilitation system; Admittance; Biological control systems; Biomedical engineering; Control systems; Medical control systems; Medical robotics; Rehabilitation robotics;
fLanguage
English
Publisher
ieee
Conference_Titel
Engineering in Medicine and Biology Society, 2005. IEEE-EMBS 2005. 27th Annual International Conference of the
Conference_Location
Shanghai
Print_ISBN
0-7803-8741-4
Type
conf
DOI
10.1109/IEMBS.2005.1615619
Filename
1615619
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