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Two common rehabilitation therapies for individuals possessing neurological conditions are functional electrical stimulation (FES) and robotic assistance. This paper focuses on combining the two rehabilitation strategies for use on the biceps brachii muscle group. FES is used to elicit muscle contractions to actuate the forearm and a rehabilitation robot is used to challenge the muscle group in its...
Cycling induced by functional electrical stimulation (FES) of the lower limb muscles is a common rehabilitative treatment. In this paper, a repetitive learning controller (RLC) is developed for cadence tracking during stationary FES-cycling. The RLC is developed for an uncertain, nonlinear cycle-rider system with autonomous state-dependent switching. The stimulation pattern switches across different...
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