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This study integrates synergy-based Functional Electrical Stimulation (FES) with a robotic exoskeleton for upper limb rehabilitation, aiming to improve muscle recruitment, delay muscle fatigue, and reduce motor energy consumption. Preliminary tests with 3 non-disabled subjects indicate that the hybrid system can reduce energy consumption while preserving a good trajectory tracking. Future studies should evaluate the efficacy of this hybrid approach in enhancing rehabilitation outcomes for neurological patients.

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A Synergy-Based Cooperative Control System for an Upper-Limb Hybrid FES-Robotic Exoskeleton

  • 会议论文

  • 发表日期：

    2025年

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  • Tommaso Del Grossi,
  • Laura Lonoce,
  • Beatrice Luciani,
  • Cristiano De Marchis,
  • Giovanni Corvini,
  • Maurizio Schmid,
  • Alessandra Pedrocchi,
  • Marta Gandolla,
  • Emilia Ambrosini

摘要

This study integrates synergy-based Functional Electrical Stimulation (FES) with a robotic exoskeleton for upper limb rehabilitation, aiming to improve muscle recruitment, delay muscle fatigue, and reduce motor energy consumption. Preliminary tests with 3 non-disabled subjects indicate that the hybrid system can reduce energy consumption while preserving a good trajectory tracking. Future studies should evaluate the efficacy of this hybrid approach in enhancing rehabilitation outcomes for neurological patients.