Hybrid FES & Mechatronic Hand Control Method for Upper Limb Rehabilitation Systems

This paper aims to describe a control concept algorithm developed as a new software for controlling both functional electrical stimulation (FES) and mechatronic components, inherited in an upper limb rehabilitation system for stroke people, but not limited to this specific affection. The main principle of the algorithm is to achieve a balanced control between FES and mechatronic exoskeleton, based on the input of the healthy hand via a sensory hand glove in order to help affected stroke patients to recover their affected hand mobility during the therapy.