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