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Development of FES augmented robot assisted training setup for unilateral brain-injured subjects


Martin Wieser

Semester/Bachelor Thesis, SS 05

The first aim of the project was to study the effect of Functional Electrical Stimulation (FES) parameters on the upper extremity workspace using an Arm Coordination Training 3D (ACT3D) robotic system. During gravity augmented conditions unilateral brain-injured subjects have been shown to reduce their ability to activate the elbow extensor muscles. In this project depending on the choice of stimulation parameters (frequency of 25Hz and pulse width of 150μs) the upper extremity workspace in unilateral brain-injured subjects could be enlarged while stimulating the m. triceps brachii with FES. For patients the ‘worst case scenario’ was researched and so in one out of five cases the improvements were significant.
As part of the second aim of this study the ability to open the hand when increasing the effect of gravity on the paretic arm was investigated. In the study for increasing levels of activation of shoulder antigravity muscles a greater level of wrist and finger flexion was identified and quantified. A significant increasing of force applied by the five fingers could be seen for all levels of arm weight support. However it was possible to overcome the abnormal activation of finger flexors while stimulated the m. extensor digitorum with FES in the absence of any FES induced muscle conditioning reducing the initial finger force by 80%.

Supervisors: Dr. T. Keller, Prof. M. Morari


Type of Publication:

(13)Semester/Bachelor Thesis

M. Morari

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2005:IFA_2812
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