An admittance control scheme for a robotic upper- limb stroke rehabilitation system

P Culmer; A Jackson; M C Levesley; J Savage; R Richardson; J A Cozens; B B Bhakta

doi:10.1109/IEMBS.2005.1615619

An admittance control scheme for a robotic upper- limb stroke rehabilitation system

Conf Proc IEEE Eng Med Biol Soc. 2005:2005:5081-4. doi: 10.1109/IEMBS.2005.1615619.

Authors

P Culmer¹, A Jackson, M C Levesley, J Savage, R Richardson, J A Cozens, B B Bhakta

Affiliation

¹ Depatment of Mechanical Engineering, University of Leeds, Leeds, LS2 9JT, UK.

PMID: 17281389
DOI: 10.1109/IEMBS.2005.1615619

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 discrussion of future work.