Christian Klauer

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A novel feedback control method for neuro-prosthetic systems is presented which linearises the static input non-linearity of muscles that are artificially activated by Functional Electrical Stimulation (FES). The proposed method controls the activation state (sum of recruited motor units by FES) of the paralysed muscle. This muscle recruitment state is(More)
MUNDUS is an assistive framework for recovering direct interaction capability of severely motor impaired people based on arm reaching and hand functions. It aims at achieving personalization, modularity and maximization of the user’s direct involvement in assistive systems. To this, MUNDUS exploits any residual control of the end-user and can be adapted to(More)
This work aimed at designing a myocontrolled arm neuroprosthesis for both assistive and rehabilitative purposes. The performance of an adaptive linear prediction filter and a high-pass filter to estimate the volitional EMG was evaluated on healthy subjects (N=10) and neurological patients (N=8) during dynamic hybrid biceps contractions. A significant effect(More)
Assistive technologies help patients to reacquire interacting capabilities with the environment and improve their quality of life. In this manuscript we present a feasibility study in which healthy users were able to use a non-invasive Motor Imagery (MI)-based brain computer interface (BCI) to achieve linear control of an upper-limb functional electrical(More)
Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES) to enable reaching functions in people with no residual voluntary control(More)
MUNDUS is an assistive platform for recovering direct interaction capability of severely impaired people based on upper limb motor functions. Its main concept is to exploit any residual control of the end-user, thus being suitable for long term utilization in daily activities. MUNDUS integrates multimodal information (EMG, eye tracking, brain computer(More)
contribution presents a new approach to human arm position control under electrical stimulation that employs an acceleration feedback. During stimulation of antagonistic muscle pairs, this approach can noticeably reduce negative effects that are caused by an uncertain dead-zone within the muscular activation. The acceleration controller, realised using a(More)
For restoration of reaching function in patients with upper motor neuron lesion a noval control strategy for a neuroprosthesis was developed within the EU project MUNDUS. By applying controlled Functional Electrical Stimulation (FES) to the shoulder deltoid muscle and the biceps, functional arm movements can be achieved. An exoskeleton with three DOF(More)
Motivated by control tasks in neuro-prosthetic systems, a method for the exact discretisation of continuous-time LTI systems in presence of irregular actuation and sampling times is presented. In this approach, sequences for the desired sampling and actuation times form additional inputs to the discrete-time systems. An analytical evaluation for a class of(More)