Newton-method based iterative learning control for robot-assisted rehabilitation using FES

@inproceedings{Freeman2015NewtonmethodBI,
  title={Newton-method based iterative learning control for robot-assisted rehabilitation using FES},
  author={Christopher T. Freeman},
  year={2015}
}
Precise control of useful movement is critical in providing effective upper limb stroke rehabilitation using functional electrical stimulation (FES). To address the lack of accuracy currently available in clinical practice, this paper develops a general framework based on iterative learning control (ILC), an approach that has been successfully employed in three clinical treatment trials. An upper limb model is first developed to encompass unconstrained movements of the upper arm. In line with… CONTINUE READING