Musculoskeletal Key

, of ES signal represents the electrical stimulation applied to the ith muscle. Since each array element does not necessarily correspond to a single muscle, we now introduce signal containing…

Fig. 3.1 Feedback control scheme with This chapter addresses the design of feedback controllers to stabilize all joints in the upper limb system. Moreover, robust stability margins are derived to…

to stabilise the system shown in Fig. 3.​1 and achieve some level of tracking performance for the controlled joints, . The resulting closed-loop system [M, K] is represented by (4.1)where T is…

to track reference trajectory , where operator is defined by (4.​1). This objective assumes that a trajectory is available. In the rehabilitation domain this is appropriate if the task is…

Fig. 9.1 Feedback and ILC control scheme for arbitrary electrode structures Procedure 9 (Embedding arrays within general robustness framework) Suppose N groups of single-pad electrodes or electrode arrays are used….

(2.1) in which is the vector of p joint angles, and are inertial and Coriolis matrices respectively, and and are frictional and gravitational vectors respectively. The term comprises the moments…

, . The ultimate goal of this rehabilitation technology is to translate into patients’ homes, where it can be used without direct supervision from a therapist over longer training periods….

Fig. 7.1 Human arm kinematic relationships The underlying kinematics are shown in Fig. 7.1 and include the wrist action considered in Chap. 6. The rehabilitation system is shown in Fig. 7.2 and facilitates…

Fig. 5.1 Signal flow diagram showing system components: passive robot; real-time processor; ES hardware; therapist and participant displays Fig. 5.2 a PwMS using mechanical support with ES applied to her…