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.
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;
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
DOI :
10.1109/IEMBS.2005.1615619
