An admittance control scheme for a robotic upper- limb stroke rehabilitation system.
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.
Culmer
P
P
Depatment of Mechanical Engineering, University of Leeds, Leeds, LS2 9JT, UK.
Jackson
A
A
Levesley
M C
MC
Savage
J
J
Richardson
R
R
Cozens
J A
JA
Bhakta
B B
BB