Link Download ebook Free: https://ouo.io/BQEaLq Control System Design for Electrical Stimulation in Upper Limb Rehabilitation Modelling, Identification and Robust Performance By: Chris Freeman Publisher: Springer Print ISBN: 9783319257044, 3319257048 eText ISBN: 9783319257068, 3319257064 Copyright year: 2016 Format: PDF Available from $ 89.00 USD SKU 9783319257068 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.
