Iterative Learning Control for Electrical Stimulation and Stroke Rehabilitation

1. Front Matter

   Pages i-vii

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2. Introduction

   • Chris T. Freeman, Eric Rogers, Jane H. Burridge, Ann-Marie Hughes, Katie L. Meadmore

   Pages 1-2

3. Iterative Learning Control—An Overview

   • Chris T. Freeman, Eric Rogers, Jane H. Burridge, Ann-Marie Hughes, Katie L. Meadmore

   Pages 3-16

4. Technology Transfer to Stroke Rehabilitation

   • Chris T. Freeman, Eric Rogers, Jane H. Burridge, Ann-Marie Hughes, Katie L. Meadmore

   Pages 17-24

5. ILC Based Upper-Limb Rehabilitation—Planar Tasks

   • Chris T. Freeman, Eric Rogers, Jane H. Burridge, Ann-Marie Hughes, Katie L. Meadmore

   Pages 25-61

6. Iterative Learning Control of the Unconstrained Upper Limb

   • Chris T. Freeman, Eric Rogers, Jane H. Burridge, Ann-Marie Hughes, Katie L. Meadmore

   Pages 63-91

7. Goal-Oriented Stroke Rehabilitation

   • Chris T. Freeman, Eric Rogers, Jane H. Burridge, Ann-Marie Hughes, Katie L. Meadmore

   Pages 93-116

8. Conclusions and Further Research

   • Chris T. Freeman, Eric Rogers, Jane H. Burridge, Ann-Marie Hughes, Katie L. Meadmore

   Pages 117-120

9. Back Matter

   Pages 121-124

   PDF

Iterative learning control (ILC) has its origins in the control of processes that perform a task repetitively with a view to improving accuracy from trial to trial by using information from previous executions of the task. This brief shows how a classic application of this technique – trajectory following in robots – can be extended to neurological rehabilitation after stroke.
Regaining upper limb movement is an important step in a return to independence after stroke, but the prognosis for such recovery has remained poor. Rehabilitation robotics provides the opportunity for repetitive task-oriented movement practice reflecting the importance of such intense practice demonstrated by conventional therapeutic research and motor learning theory. Until now this technique has not allowed feedback from one practice repetition to influence the next, also implicated as an important factor in therapy. The authors demonstrate how ILC can be used to adjust external functional electrical stimulation of patients’ muscles while they are repeatedly performing a task in response to the known effects of stimulation in previous repetitions. As the motor nerves and muscles of the arm reaquire the ability to convert an intention to move into a motion of accurate trajectory, force and rapidity, initially intense external stimulation can now be scaled back progressively until the fullest possible independence of movement is achieved.

• Clinical Evaluation
• Healthcare Robotics
• Learning Control
• Medical Engineering
• Stroke Rehabilitation
• rehabilitation psychology

“This is a unique and relatively short description of the development and testing of an innovative approach to stroke rehabilitation. … Figures and tables are clear and are used to enhance the readability. This book is particularly useful for engineers and investigators with an interest in motor control. … book is clearly and succinctly written and is well organized, with a sound and systematic, step-by-step description of the development of the technology and the studies used to test its applications.” (Elliot J. Roth, Doody’s Book Reviews, September, 2015)

• Department of Electronics and Computer Science, University of Southampton, Southampton, United Kingdom

  Chris T. Freeman, Eric Rogers

• Faculty of Health Sciences, University of Southampton, Southampton, United Kingdom

  Jane H. Burridge, Ann-Marie Hughes

• School of Psychology, University of Southampton, Southampton, United Kingdom

  Katie L. Meadmore

Dr Freeman and Professor Rogers are control engineers who have undertaken ground breaking research for iterative learning control from theory through to experimental benchmarking and comparative studies in the engineering domain. Professor Burridge and Dr Hughes are health professionals in the general area of rehabilitation and Dr Meadmore is a psychologist with interests in human movement and attention. Together they have worked to develop the idea of iLC in stroke rehabilitation from ‘blue skies’ ideas right through to clinical trials.

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