Fabian Just

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Robot-assisted arm therapy is increasingly applied in neurorehabilitation. The reason for this development over the last decades was that robots relieve the therapist from hard physical work while the training intensity can be increased. Importantly, an increase in training intensity is closely linked to functional improvements of the patient. However,(More)
Just, Fabian M.S.E.C.E., Purdue University, December 2013. A Strategy for Minimizing Parkinsonian Noise from a Joystick Controlled Wheeled Mobile Robot . Major Professor: Raymond A. DeCarlo. This thesis investigates movement of an electric wheelchair as a wheeled mobile robot (WMR) with a battery rechargeable through regenerative braking.The WMR has two(More)
This paper considers a model predictive control (MPC) strategy for mitigating the effects of Parkinson tremors on a movement-sensing, joystick controlled battery powered wheelchair with regenerative braking to extend its range between charges. Regenerative braking transforms the wheelchair model into a (switched) hybrid system. The wheelchair is represented(More)
Highly impaired stroke patients at early stages of recovery are unable to generate enough muscle force to lift the weight of their own arm. Accordingly, task-related training is strongly limited or even impossible. However, as soon as partial or full arm weight support is provided, patients are enabled to perform arm rehabilitation training again throughout(More)
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