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                <title xml:lang="en">Development of a Software for the Control of a Hybrid FES–Robotic Orthosis for Upper Limb Rehabilitation</title>
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              <p>Stroke can lead to upper limb impairments. However, due to the brain's neuroplasticity, the upper limb’smotor skills may be recovered through hybrid robotic rehabilitation systems. This study presents a software architecture to control a hybrid FES-robotic orthosis, whose function is to rehabilitate the upper limbs of individuals with post-stroke hemiplegia. A software was developed to integrate the equipment different drive system in order to control two modules: the elbow module controlled by the motor and the hand module controlled by FES. The software was divided into three layers with different functionalities. The open loop control is based, for each functional task, on a predefined sequence of actions to be executed in a given time. The result is a modular software, which is flexible enough to accept future expansions focused on specific patient needs.</p>
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