OTHER
An Admittance Control Scheme for a Robotic Upper- Limb Stroke Rehabilitation System
Peter Culmer, Andrew Jackson, Martin Levesley, Jesús Savage, Robert C. Richardson, J. A. Cozens, B. Bhakta
- Year
- 2005
- Citations
- 47
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.
Keywords
AdmittanceController (irrigation)Scheme (mathematics)RobotStroke (engine)Computer scienceRehabilitationDual (grammatical number)Upper limbWork (physics)
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