Control System Design for Electrical Stimulation in Upper Limb Rehabilitation

Modelling, Identification and Robust Performance

  • Chris¬†Freeman

Table of contents

  1. Front Matter
    Pages i-xiii
  2. Chris Freeman
    Pages 1-5
  3. Chris Freeman
    Pages 7-20
  4. Chris Freeman
    Pages 21-43
  5. Chris Freeman
    Pages 45-73
  6. Chris Freeman
    Pages 75-84
  7. Chris Freeman
    Pages 85-109
  8. Chris Freeman
    Pages 121-140
  9. Chris Freeman
    Pages 163-176

About this book


This book presents a comprehensive framework for model-based electrical stimulation (ES) controller design, covering the whole process needed to develop a system for helping people with physical impairments perform functional upper limb tasks such as eating, grasping and manipulating objects.

The book first demonstrates procedures for modelling and identifying biomechanical models of the response of ES, covering a wide variety of aspects including mechanical support structures, kinematics, electrode placement, tasks, and sensor locations. It then goes on to demonstrate how complex functional activities of daily living can be captured in the form of optimisation problems, and extends ES control design to address this case. It then lays out a design methodology, stability conditions, and robust performance criteria that enable control schemes to be developed systematically and transparently, ensuring that they can operate effectively in the presence of realistic modelling uncertainty, physiological variation and measurement noise.


Assistive Technology Control Systems Electrical Stimulation Iterative Learning Control Rehabilitation Engineering

Authors and affiliations

  • Chris¬†Freeman
    • 1
  1. 1.University of SouthamptonSouthamptonUnited Kingdom

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2016
  • Publisher Name Springer, Cham
  • eBook Packages Engineering
  • Print ISBN 978-3-319-25704-4
  • Online ISBN 978-3-319-25706-8
  • Buy this book on publisher's site
Industry Sectors
Materials & Steel
Health & Hospitals
Consumer Packaged Goods