Combined Functional Electrical Stimulation (FES) and Robotic System Driven by User Intention for Post-Stroke Wrist Rehabilitation - Biomechatronics in Medicine and Healthcare - page 109

Figure 8.2 The system diagram of the FES-Robot system (a), and an illustration of the
structure for the motor part (b).

manipulandum. A belt was used to fasten the wrist joint in order to keep the joint
position still during palm movement.
The control algorithm for the assistive FES and torque could be described as
follows:

Assistance FES − robot = Assistance Robot + Assistance FES (8.1)

where, Assistance FES − robot represented the ultimate support of the FES-robot
system, Assistance Robot was the support from the robot part applied to
the manipulandum, Assistance FES was the support from the FES part applied to
the FES electrodes. The robotic assistance for the FES-robot systemwas same as the
algorithm for the continuous intention-driven wrist robot introduced in Chapter 5 .