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Nonlinear optimisation-based search algorithms have been developed for the  precise stimulation of muscles in the wrist and hand, to enable stroke  patients to attain predefined gestures. These have been integrated in a  system comprising a 40 element surface electrode array that is placed on the  forearm, an electrogoniometer and data glove supplying position data from 16  joint angles, and custom signal generation and switching hardware to route  the electrical stimulation to individual array elements. The technology will  be integrated in a upper limb rehabilitation system currently undergoing  clinical trials to increase their ability to perform functional tasks  requiring fine hand and finger movement. Initial performance results from  unimpaired subjects show the successful reproduction of six reference hand  postures using the system

Optimisation of hand posture stimulation using an electrode array and iterative learning control