Lupu O., M. Madaschi, T. Seel, A. Cologni, F. Previdi, T. Schauer
Rehabilitation after stroke can be improved by EMGproportional FES. While the muscle is being stimulated
proportional to its detected residual voluntary activation, the patient practices to reach predefined joint angles
iteratively. Often the patient has bad control over the movement and oscillations occur. A potential reason is the
nonlinear static EMGangle relation resulting from EMGproportional stimulation. This contribution describes the
development of an improved EMGbased FES system that iteratively learns the nonlinear EMGFES relation that leads
to a linear relation between EMG and joint angle.