The University of Southampton

Research

Research interests

Chris Freeman is a reader in applied control within Electronics and Computer Science. His control research interests include iterative learning and repetitive control theory and their experimental application to industrial systems and biomedical engineering. He has led the engineering component on large UK government funded grants which have developed a range of upper limb systems using robotic and Functional Electrical Stimulation (FES) technology that have each been trialled clinically with stroke patients. In this area his current focus is on biomechanics, motor learning and control, non-contact sensing, electrode-array based FES, and touch-table technology.

Projects

Grants

I have secured over €6.8 million in funding as either PI or Co-I, including:

Zhengzhou University China ‘Toward more intelligent high performance control system design: A learning based approach’, 1/2016 - 7/2021

Medical Research Council, ‘Low-cost personalised textiles for FES-based upper limb rehabilitation’, 6/2016 - 12/2018

Australian Research Council Discovery Project: "What learning is there in learning control?", 04/2016 - 03/2019. Co-Investigator.

EPSRC Grant EP/M026388/1: ‘Wearable Soft Robotics for Independent Living", 07/2015 - 06/2018. Co-Investigator.

Multiple Sclerosis Society Innovation Award: "Testing the feasibility of using FES mediated by ILC and robotics to improve arm movement for people with MS", 01/04/2013 - 31/03/2014. Co-Investigator.

Australian Research Council Discovery Project: "Motor Learning Control and Computational Models of Human Motor Systems", 01/2013 - 01/2016. Co-Investigator.

EU-funded Lifelong Learning Programme: ACTION ERASMUS MULTILATERAL PROJECTS: ERASMUS Support to the modernisation agenda of higher education: Curricular reform. "European MSc in Advanced Rehabilitation Technologies (ART)". 01/10/2012 - 01/10/2014. Co-Investigator.

EPSRC ‘Bridging the Gap’ - Pilot Scheme Award "User-centred development of a home-based stroke rehabilitation system”, 01/10/2012 – 31/03/2013. Principal-Investigator.

Wessex Medical Research – Innovation Fund Grant : “Development of a Low-Cost Home-based Rehabilitation System”, 07/2012 – 07/2013. Co-Investigator.

EPSRC Grant EP/I01909X/1 : “Restoration of Reach and Grasp in Stroke Patients using Electrical Stimulation and Haptic Feedback”, 04/2011 – 04/2014. Co-Investigator.

EPSRC First Grant EP/G014078/1 : “Objective-based Iterative Learning Control for Robotics and Rehabilitation”, 03/2009 – 03/2011. Principal-Investigator.

EU COST Action TD 1006 Network on Robotics for NeuroRehablitation funded Short Term Scientific Mission funding to Technischen Universität Berlin, 10/2012 - 10/2012

Visiting Research Fellowship to University of Melbourne, 08/2010 - 09/2010

Foundation for Human Potential and the Nuffield Travel Fellowship visit to Massachusetts Institute of Technology, 07/2006 - 07/2006

Royal Academy of Engineering Travel Fellowship Visit to Utah State University, 09/2004 - 10/2004

Professional

Qualifications

BEng(Hons) Electromechanical Engineering (2000)
BSc(Hons) Mathematical Sciences (2006)
PhD (2004)

Duties

Deputy Head of Graduate School

Industrial Liason

Fire Officer

UCAS Admissions Officer for Electromechanical Engineering Programme

Publications

Freeman, C. T., Hughes, A.M., Burridge, J. H., Chappell, P. H., Lewin, P. L. and Rogers, E (2009) A model of the upper extremity using FES for stroke rehabilitation Journal of Biomechanical Engineering, 131, (3), 031011-12pp. (doi:10.1115/1.3005332).

Hughes, A.M., Freeman, C.T., Burridge, J.H., Chappell, P.H., Lewin, P.L. and Rogers, E. (2009) Feasibility of iterative learning control mediated by functional electrical stimulation for reaching after stroke Neurorehabilitation and Neural Repair, 23, (6), pp. 559-568. (doi:10.1177/1545968308328718).

Hughes, A.M., Freeman, C., Burridge, J., Chappell, P., Lewin, P. and Rogers, E. (2008) Re-education of upper limb function post-stroke, using interative learning control (ILC) mediated by functional electrical stimulation (FES) International Journal of Stroke, 3, (s1), p.343. (doi:10.1111/j.1747-4949.2008.00231.x).

Hughes, A.M., Freeman, C., Burridge, J., Chappell, P., Lewin, P. and Rogers, E. (2010) Shoulder and elbow muscle activity during fully supported trajectory tracking in people who have had a stroke Journal of Electromyography and Kinesiology, 20, (3), pp. 465-476. (doi:10.1016/j.jelekin.2009.08.001). (PMID:19811934).

Freeman, C T, Hatonen, J J, Lewin, P L, Rogers, E and Owens, D H (2004) Experimental evaluation of a new repetitive control algorithm on a non-minimum phase spring-mass-damper system At IFAC Workshop on Adaption and Learning in Control and Signal Processing and the IFAC Workshop on Periodic Control Systems, Japan. 30 Aug - 01 Sep 2004. , pp. 681-686.

Freeman, C T, Lewin, P L and Rogers, E (2004) Phase-lead based iterative learning control implemented experimentally on a non-minimum phase plant At 3rd IFAC Symposium on Mechatronic Systems, Australia. 06 - 08 Sep 2004. , pp. 193-198.

Freeman, C T, Lewin, P L and Rogers, E (2004) Experimental evaluation of simple structure ILC algorithms for non-minimum phase plants At 3rd IFAC Symposium on Mechatronic Systems, Australia. 06 - 08 Sep 2004. , pp. 205-210.

Freeman, C, Lewin, P L, Rogers, E, Hatonen, J, Harte, T and Owens, D H (2004) A novel repetitive control algorithm combining ILC and deadbeat control At 1st International Conference on Informatics in Control, Automation and Robotics, Portugal. 25 - 28 Aug 2004. , pp. 257-263.

Hatonen, J J, Freeman, C T, Owens, D H, Lewin, P L and Rogers, E (2004) Robustness Analysis of a Gradient-Based Repetitive Control Algorithm At 43rd IEEE Conference on Decision and Control, Bahamas. 14 - 17 Dec 2004. , pp. 1301-1306.

Freeman, C.T., Lewin, P.L. and Rogers, E. (2005) Experimental evaluation of iterative learning control algorithms for non-minimum phase plants International Journal of Control, 78, (11), pp. 826-846. (doi:10.1080/00207170500158565).

Freeman, C T, Lewin, P L and Rogers, E (2005) Discrete predictive optimal ILC implemented on a non-minimum phase experimental testbed At 2005 American Control Conference, United States. 08 - 10 Jun 2005. , pp. 282-287.

Freeman, C T, Lewin, P L and Rogers, E (2005) Robust ILC design using Mobius Transformations At 2nd International Conference on Informatics in Control, Automation and Robotics, Spain. 14 - 17 Sep 2005. , pp. 141-146.

Freeman, C T, Hughes, A-M, Burridge, J H, Chappell, P H, Lewin, P L and Rogers, E (2006) Iterative Learning Control as an Intervention Aid to Stroke Rehabilitation At UKACC Control 2006 Mini Symposium: InstMC Control Concepts in Healthcare and Rehabilitation, United Kingdom. , pp. 225-233.

Hatonen, J J, Freeman, C T, Owens, D H, Lewin, P L and Rogers, E (2006) A Gradient-based Repetitive Control Algorithm Combining ILC and Pole Placement European Journal of Control, 12, (3), pp. 278-292.

Freeman, C.T., Hughes, A.-M., Burridge, J.H., Chappell, P.H., Lewin, P.L. and Rogers, E. (2007) An experimental facility for the application of iterative learning control as an intervention aid to stroke rehabilitation Measurement and Control, 40, (1), pp. 20-23.

Freeman, C T, Lewin, P L and Rogers, E (2007) Further results on the experimental evaluation of iterative learning control algorithms for non-minimum phase plants International Journal of Control, 80, (4), pp. 569-582.

Freeman, C T, Hughes, A-M, Burridge, J, Chappell, P H, Lewin, P L and Rogers, E (2007) An Experimental Facility using Functional Electrical Stimulation for Stroke Rehabilitation of the Upper Limb At 10th IEEE International Conference on Rehabilitation Robotics, Netherlands. 12 - 15 Jun 2007. , pp. 393-400.

Cai, Z, Freeman, C T, Lewin, P L and Rogers, E (2007) Reference Shift Iterative Learning Control for a Non-minimum Phase Plant At 2007 American Control Conference, United States. 11 - 13 Jul 2007. , pp. 558-563.

Cai, Z, Freeman, C.T., Lewin, P.L. and Rogers, E. (2008) Iterative learning control for a non-minimum phase plant based on a reference shift algorithm Control Engineering Practice, 16, (6), pp. 633-643. (doi:10.1016/j.conengprac.2007.07.001).

Hughes, A.M., Freeman, C.T., Burridge, J.H., Chappell, P.H., Lewin, P.L. and Rogers, E. (2007) Can Iterative Learning Control be used in the Re-education of Upper Limb Function, Mediated by Functional Electrical Stimulation (FES)? At Progress in Motor Control VI, Brazil. 09 - 12 Aug 2007. , S217-S218.

Hladowski, L, Galkowski, K, Rogers, E, Lewin, P L and Freeman, C T (2007) A new iterative learning control scheme for linear time-varying discrete systems At 3rd IFAC Workshop on Periodic Control Systems (PSYCO 2007). 29 - 31 Aug 2007. , pp. 279-282.

Hughes, A.M., Burridge, J.H., Freeman, C., Chappell, P., Lewin, P. and Rogers, E. (2007) Can Iterative Learning Control Be Used In The Re-Education of Upper Limb Function, Mediated by Functional Electrical Stimulation (FES)? At The Future of Restorative Neuroscience in Stroke Rehabilitation, United Kingdom. 24 - 26 Sep 2007.

Hughes, A.M., Burridge, J., Freeman, C., Chappell, P., Lewin, P. and Rogers, E. (2007) Can Iterative Learning Control be used in the Re-education of upper limb function? At LSI Forum Conference.

Hughes, A.M., Burridge, J., Freeman, C., Chappell, P., Lewin, P. and Rogers, E. (2006) What is the current role of rehabilitation robots in upper limb post stroke therapy? At 1st UK Stroke Forum Conference, United Kingdom.

Freeman, C T, Lewin, P L, Rogers, E, Owens, D H and Hatonen, J (2008) An Optimality Based Repetitive Control Algorithm for Discrete-Time Systems IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications, 55, (1), pp. 412-423.

Hughes, Ann-Marie, Freeman, Christopher, Burridge, Jane, Chappell, Paul, Lewin, Paul and Rogers, Eric (2007) Can Iterative Learning Control (ILC) mediated by Functional Electrical Stimulation (FES) be used in the re-education of upper limb function post stroke? At International Functional Electrical Stimulation Society Conference, United States.

Hughes, Ann-Marie, Burridge, Jane, Freeman, Christopher, Chappell, Paul, Lewin, Paul and Rogers, Eric (2008) Robotic trajectory tracking for neurological rehabilitation Progress in Neurology and Psychiatry, 12, (3), pp. 22-24.

Freeman, Christopher, Hughes, Ann-Marie, Burridge, Jane, Chappell, Paul, Lewin, Paul and Rogers, Eric (2008) Iterative learning control of FES applied to the upper extremity for rehabilitation Control Engineering Practice, 17, (3), pp. 368-381. (doi:10.1016/j.conengprac.2008.08.003).

Freeman, Christopher, Hughes, Ann-Marie, Burridge, Jane, Chappell, Paul, Lewin, Paul and Rogers, Eric (2009) A robotic workstation for stroke rehabilitation of the upper extremity using FES Medical Engineering & Physics, 31, (3), pp. 364-373. (doi:10.1016/j.medengphy.2008.05.008). (PMID:18640865).

Freeman, Christopher, Lewin, Paul, Rogers, Eric, Owens, David and Hatonen, Jari (2009) Discrete Fourier Transform based Iterative Learning Control Design for Linear Plants with Experimental Verification ASME Journal of Dynamic Systems, Measurement and Control, 131, (3), 031006-1-031006-10.

Alsubaie, Muhammad Ali, Cai, Zhonglun, Freeman, Christopher T., Lewin, Paul L. and Rogers, Eric (2008) Repetitive and Iterative Learning Controllers Designed by Duality with Experimental Verification At The 17th IFAC World Congress. 06 - 11 Jul 2008. , pp. 3562-3567.

Freeman, Christopher, Davies, Iain, Lewin, Paul and Rogers, Eric (2008) Iterative Learning Control of Upper Limb Reaching using Functional Electrical Stimulation At The 17th IFAC World Congress, July 6 - 11, 2008, Seoul, Korea. , pp. 13444-13449.

Davies, Iain, Freeman, Christopher, Lewin, Paul, Rogers, Eric and Owens, David (2008) Newton Method based Iterative Learning Control of the Upper Limb At 2008 American Control Conference, June 11 - 13, Seattle, Washington, USA. , pp. 3887-3892.

Hughes, Ann-Marie, Burridge, Jane, Freeman, Christopher, Chappell, Paul, Lewin, Paul and Rogers, Eric (2008) Re-education of upper limb function post stroke, using Iterative Learning Control (ILC) mediated by Functional Electrical Stimulation (FES) At 6th World Stroke Congress, Austria. 24 - 27 Sep 2008. , p. 343.

Hladowski, Lukasz, Galkowski, Krzysztof, Cai, Zhonglun, Rogers, Eric, Freeman, Christopher and Lewin, Paul (2008) A 2D systems approach to iterative learning control with experimental verification At The 17th IFAC World Congress. 06 - 11 Jul 2008. , pp. 2832-2837.

Cai, Zhonglun, Freeman, Christopher, Lewin, Paul and Rogers, Eric (2008) Experimental Comparison of Stochastic Iterative Learning Control Algorithms At 2008 American Control Conference, United States. 11 - 13 Jun 2008. , pp. 4548-4553.

Hughes, Ann-Marie, Burridge, Jane, Freeman, Christopher, Chappell, Paul, Lewin, Paul and Rogers, Eric (2008) Changes in upper limb isometric strength and error tracking following training using iterative learning control (ILC) mediated by functional electrical stimulation (FES) At Annual Meeting of European Society For Movement Analysis For Adults and Children, Turkey. 08 - 13 Sep 2008. , p. 31.

Hladowski, L, Cai, Z, Galkowski, K, Rogers, E, Freeman, C and Lewin, P L (2008) Using 2D Systems theory to Design Output Signal Based Iterative Learning Control Laws with Experimental Verification At 47th IEEE Conference on Decision and Control. , pp. 3026-3031.

Freeman, Christopher, Cai, Zhonglun, Rogers, Eric and Lewin, Paul (2009) Objective-Driven ILC for Point-to-Point Movement Tasks At 2009 American Control Conference, United States. 10 - 12 Jun 2009. , pp. 252-257.

Hladowski, Lukasz, Cai, Zhonglun, Galkowski, Krzysztof, Rogers, Eric, Freeman, Christopher, Lewin, Paul and Paszke, Wojuech (2009) Repetitive Process based Iterative Learning Control designed by LMIs and Experimentally Verified on a Gantry Robot At 2009 American Control Conference, United States. 10 - 12 Jun 2009. , pp. 949-954.

Freeman, C T, Hughes, A-M, Burridge, J H, Chappell, P H, Lewin, P L and Rogers, E (2009) An Upper Limb Model Using FES for Stroke Rehabilitation At European Control Conference 2009 - ECC’09, Hungary. 23 - 26 Aug 2009. , pp. 3208-3213.

Freeman, Christopher, Lewin, Paul, Rogers, Eric and Ratcliffe, James (2009) Synchronisation of Multi-Axis Automation Processes Using Iterative Learning Control At European Control Conference 2009 - ECC’09, Hungary. 23 - 26 Aug 2009. , pp. 1529-1534.

Hladowski, Lukasz, Galkowski, Krzysztof, Cai, Zhonglun, Rogers, Eric, Freeman, Christopher and Lewin, Paul (2009) A 2D Systems Approach to Iterative Learning Control for Discrete Linear Processes with Zero First Markov Parameter At Symposium on Learning Control at IEEE CDC 2009. 14 - 15 Dec 2009.

Freeman, Christopher, Hughes, Ann-Marie, Burridge, Jane, Chappell, Paul, Lewin, Paul and Rogers, Eric (2008) Modelling of the upper Limb using electrical stimulation for stroke rehabilitation At 23rd IAR Workshop on Advanced Control and Diagnosis, United Kingdom. 27 - 28 Nov 2008. , pp. 66-71.

Freeman, Christopher, Lewin, Paul, Rogers, Eric and Ratcliffe, James (2008) Iterative Learning Control for Synchronisation of Multi-Axis Automation Processes At 23rd IAR Workshop on Advanced Control and Diagnosis, United Kingdom. 27 - 28 Nov 2008. , pp. 309-314.

Le, Fengmin, Markovsky, Ivan, Freeman, Christopher and Rogers, Eric (2008) Identification of the Dynamics of Human Arms after Stroke At 23rd IAR Workshop on Advanced Control and Diagnosis, United Kingdom. 27 - 28 Nov 2008.

Hughes, Ann-Marie, Freeman, Christopher, Burridge, Jane, Chappell, Paul, Lewin, Paul and Rogers, Eric (2008) Re-education of upper limb function post-stroke, using iterative learning control (ILC) mediated by functional electrical stimulation (FES) International Journal of Stroke, 3, p. 343.

Hughes, Ann-Marie, Freeman, Christopher, Burridge, Jane, Chappell, Paul, Lewin, Paul and Rogers, Eric (2008) Changes in upper limb isometric strength and error tracking following training using functional electrical stimulation Gait & Posture, 28, (2), p. 31.

Freeman, Christopher, Cai, Zhonglun, Rogers, Eric and Lewin, Paul (2011) Iterative learning control for multiple point-to-point tracking application IEEE Transactions on Control Systems Technology, 19, (3), pp. 590-600. (doi:10.1109/TCST.2010.2051670).

Freeman, Christopher, Lewin, Paul, Rogers, Eric and Ratcliffe, James (2010) Iterative Learning Control Applied to a Gantry Robot and Conveyor System Transactions of the Institute of Measurement and Control, 32, (3), pp. 251-264.

Freeman, C., Hughes, A-M, Burridge, J., Chappell, P., Lewin, P.L. and Rogers, E. (2009) Design and control of an upper arm FES workstation for rehabilitation At 2009 IEEE 11th International Conference on Rehabilitation Robotics (ICORR 2009), Japan. 23 - 26 Jun 2009. , pp. 66-72.

Hughes, A-M, Freeman, C T, Burridge, J H, Chappell, P H, Lewin, P L and Rogers, E (2009) Upper Limb Rehabilitation of Stroke Participants using Electrical Stimulation: Changes in Tracking and EMG Timing (best paper prize) At 11th International Conference on Rehabilitation Robotics, Japan. 23 - 26 Jun 2009. , pp. 59-65.

Hughes, Ann-Marie, Freeman, Christopher, Burridge, Jane, Chappell, Paul, Lewin, Paul, Rogers, Eric, Dibb, Bridget and Donovan-Hall, Maggie (2009) Efficacy of Iterative Learning Control for Stroke Rehabilitation Progress in Neurology and Psychiatry, 13, (5), pp. 16-20.

Hughes, Ann-Marie, Freeman, Christopher, Burridge, Jane, Chappell, Paul, Lewin, Paul, Pickering, Ruth and Rogers, Eric (2009) Shoulder and elbow muscle activity during fully supported trajectory tracking in neurologically intact older people Journal of Electromyography and Kinesiology, 19, (6), pp. 1025-1034. (doi:10.1016/j.jelekin.2008.09.015). (PMID:19101167).

Hughes, Ann-Marie, Freeman, Christopher, Burridge, Jane, Chappell, Paul, Lewin, Paul and Rogers, Eric (2009) Clinical effectiveness and patient perceptions of an ILC mediated by ES system using a robotic workstation At XVIII European Stroke Conference, Sweden. 26 - 29 May 2009.

Le, Fengmin, Markovsky, Ivan, Freeman, Christopher and Rogers, Eric (2009) System Identification of Muscle Dynamics for ILC-based Stroke Rehabilitation At UKACC Research Student Event.

Hughes, Ann-Marie, Freeman, Christopher, Burridge, Jane, Chappell, Paul, Lewin, Paul and Rogers, Eric (2009) Clinical effectiveness and patient perceptions of an ILC mediated by ES system using a robotic workstation Cerebrovascular Diseases, 27, supplement 6, p. 239. (doi:10.1159/000221782).

Alsubaie, Muhammad A., Freeman, Christopher, Cai, Zhonglun, Lewin, Paul and Rogers, Eric (2009) ILC Initial Input Selection with Experimental Verification At Symposium on Learning Control at IEEE CDC 2009. 14 - 15 Dec 2009.

Hladowski, Lukasz, Galkowski, Krzysztof, Cai, Zhonglun, Rogers, Eric, Freeman, Chis T and Lewin, Paul L (2010) Experimentally supported 2D systems based iterative learning control law design for error convergence and performance Control Engineering Practice, 18, (4), pp. 339-348. (doi:10.1016/j.conengprac.2009.12.003).

Freeman, Christopher, Alsubaie, Muhammad, Cai, Zhonglun, Lewin, Paul and Rogers, Eric (2011) Initial Input Selection for Iterative Learning Control ASME Journal of Dynamic Systems, Measurement and Control, 133, (5), p. 54504.

Hladowski, Lukasz, Galkowski, Krzysztof, Cai, Zhonglun, Rogers, Eric, Freeman, Christopher and Lewin, Paul (2012) Output Information based Iterative Learning Control Law Design with Experimental Verification ASME Journal of Dynamic Systems, Measurement and Control, 134, (2), 021012/1-021012/10.

Dabkowski, P, Galkowski, K, Rogers, E, Cai, Z, Freeman, C T and Lewin, P L (2009) Iterative Learning Control Based on Strong Practical Stability of Repetitive Processes At 48th IEEE Conference on Decision and Control, China. , pp. 4864-4869.

Le, Fengmin, Markovsky, Ivan, Freeman, Christopher and Rogers, Eric (2009) Identification of Electrically Stimulated Muscle after Stroke At European Control Conference 2009 - ECC’09, Hungary. 23 - 26 Aug 2009. , pp. 1576-1581.

Rogers, E, Freeman, C T, Lewin, P L and Owens, D H (2009) Iterative Learning Control with Application to Industrial and Rehabilitation Robots (Plenary paper) At 20th International Conference on Systems Engineering, United Kingdom. , pp. 1-12.

Freeman, C T, Lewin, P L, Rogers, E and Owens, D H (2010) Iterative Learning Control of the Redundant Upper Limb for Rehabilitation At 2010 American Control Conference. 30 Jun - 02 Jul 2010. , pp. 1278-1283.

Hladowski, Lukasz, Galkowski, Krzysztof, Cai, Zhonglun, Rogers, Eric, Freeman, Christopher and Lewin, Paul (2010) Experimentally Verified 2D Systems Theory based Robust Iterative Learning Control At 2010 American Control Conference. 30 Jun - 02 Jul 2010. , pp. 3475-3480.

Freeman, Christopher, Cai, Zhonglun, Lewin, Paul and Rogers, Eric (2009) Iterative Learning Control For Multiple Point-to-Point Tracking At 48th IEEE Conference on Decision and Control, China. , pp. 3288-3293.

Le, Fengmin, Markovsky, Ivan, Freeman, Christopher T. and Rogers, Eric (2010) Identification of electrically stimulated muscle models of stroke patients Control Engineering Practice, 18, pp. 396-407.

Freeman, Chris, Alsubaie, Muhammad, Cai, Zhonglun, Rogers, Eric and Lewin, Paul (2011) Model and Experience-based initial input construction for iterative learning control International Journal of Adaptive Control and Signal Processing, 25, (5), pp. 430-447.

Burridge, Jane, Freeman, Chris, Hughes, Ann-Marie, Rogers, Eric, Lewin, Paul and Chappell, Paul (2010) Relationship between changes in tracking performance and timing and amplitude of biceps and triceps EMG following training in a planar arm robot in a sample of people with post-stroke hemiplegia At ISEK 2010: The XVIII Congress of the International Society of Electrophysiology and Kinesiology, Dominica. 16 - 19 Jun 2010.

Tropea, Peppino, Freeman, Chris, Hughes, Ann-Marie, Burridge, Jane and Micera, Silvestro (2010) Modifications of upper limb muscle synergies in post-stroke patients during rehabilitation based on functional electrical stimulation At The XVIII Congress of the International Society of Electrophysiology and Kinesiology, Denmark.

Dabkowski, P, Galkowski, K, Cai, Z, Rogers, E, Freeman, C T and Lewin, P L (2013) Iterative Learning Control Based on Relaxed 2D Systems Stability Criteria IEEE Transactions on Control Systems Technology, 21, (3), pp. 1016-1023. (doi:10.1109/TCST.2012.2198477).

Alsubaie, Muhammad, Freeman, Chris, Cai, Zhonglun, Rogers, Eric and Lewin, Paul (2010) Iterative Learning and Repetitive Controller Design Via Duality with Experimental Verification At 49th IEEE Conference on Decision and Control, Georgia. 15 - 17 Dec 2010. , pp. 6961-6966.

Cai, Zhonglun, Tong, Daisy, Heck, Dennis, Freeman, Christopher, Rogers, Eric, Hughes, Anne-Marie and Burridge, Jane (2010) ILC for 3D Rehabilitation Robotics At UK-Japan Network EPSRC Postgraduate Workshop on Human Adaptive Mechatronics. 13 - 14 May 2010.

Alsubaie, Muhammad, Cai, Zhonglun, Freeman, Christopher, Rogers, Eric and Lewin, Paul (2010) Selecting the Initial Input for Iterative Learning Control: Algorithms with Experimental Verification At UKACC International Conference on CONTROL 2010, United Kingdom. 07 - 10 Sep 2010. , pp. 61-66.

Chu, B, Cai, Z, Owens, D H, Rogers, E, Freeman, C T and Lewin, P L (2010) Experimental Verification of Accelerated Norm-Optimal Iterative Learning Control At UKACC International Conference on CONTROL 2010, United Kingdom. 07 - 10 Sep 2010. , pp. 211-216.

Rogers, E, Owens, D H, Werner, H, Freeman, C T, Lewin, P L, Kichhoff, S, Schmidt, C and Lichtenberg, G (2010) Norm Optimal Iterative Learning Control with Application to Problems in Accelerator based Free Electron Lasers and Rehabilitation Robotics European Journal of Control, 16, (5), pp. 497-524.

Hughes, Ann-Marie, Freeman, Christopher, Chappell, Paul, Lewin, Paul, Rogers, Eric, Burridge, Jane, Donovan-Hall, Maggie and Dibb, Bridget (2011) Stroke participants’ perceptions of robotic and electrical stimulation therapy: a new approach Disability and Rehabilitation: Technology, 6, (2), pp. 130-138. (doi:10.3109/17483107.2010.509882). (PMID:20698789).

Wang, L, Chai, S, Freeman, C T and Rogers, E (2010) Structure Selection for Multivariable Repetitive-predictive Controllers At 49th IEEE Conference on Decision and Control. , pp. 6973-6978.

Freeman, Christopher, Tong, D, Meadmore, Katie, Cai, Z, Rogers, E, Hughes, A M and Burridge, J H (2011) Phase-lead Iterative Learning Control Algorithms for Functional Electrical Stimulation based Stroke Rehabilitation Proceedings of the Institution of Mechanical Engineers - Part I: Journal of Systems & Control Engineering, 225, (6), pp. 850-859.

Wang, Liuping, Freeman, Chris T., Rogers, Eric and Owens, David H. (2010) Experimentally validated continuous-time repetitive control of non-minimum phase plants with a prescribed degree of stability Control Engineering Practice, 18, (10), pp. 1158-1165. (doi:10.1016/j.conengprac.2010.06.004).

Le, Fengmin, Markovsky, Ivan, Freeman, Christopher and Rogers, Eric (2012) Recursive Identification of Hammerstein Systems with application to Electrically Stimulated Muscle Control Engineering Practice, 20, (4), pp. 386-396.

Le, Fengmin, Markovsky, Ivan, Freeman, Christopher and Rogers, Eric (2011) Online Identification of Electrically Stimulated Muscle Models At American Control Conference 2011, San Francisco, California, USA, June 29 - July 1, 2011. , pp. 90-95.

Le, Fengmin, Markovsky, Ivan, Freeman, Christopher and Rogers, Eric (2011) Recursive Identification of Hammerstein Structure At 18th IFAC World Congress, Milano, Italy, August 28 - September 2, 2011.

Meadmore, Katie L., Hughes, Anne-Marie, Cai, Zhonglun, Tong, Daisy, Freeman, Christopher, Burridge, Jane and Rogers, Eric (2010) Stroke Rehabilitation using Learning Control Mediated by Electrical Stimulation At Southampton Neuroscience Group.

Cai, Zhonglun, Bristow, Douglas A., Rogers, Eric and Freeman, Christopher (2011) Experimental Implementation of an Iteration-Varying Optimal Stochastic Iterative Learning Control Algorithm At IEEE Multi-conf on Systems and Control.

Freeman, Christopher (2012) Constrained Point-to-Point Iterative Learning Control with Experimental Verification Control Engineering Practice, 20, (5), pp. 489-498.

Freeman, Christopher and Tan, Ying (2011) Point-to-Point Iterative Learning Control with Mixed Constraints At 2011 American Control Conference, United States. 29 Jun - 01 Jul 2011. , pp. 3657-3662.

Freeman, Christopher (2011) Constrained Point-to-Point Iterative Learning Control At 18th IFAC World Congress, Italy. 28 Aug - 02 Sep 2011. , pp. 3611-3616.

Tan, Ying, Xu, Jian-Xin, Norrlof, Mikael and Freeman, Christopher (2011) On reference governor in iterative learning control for dynamic systems with input saturation Automatica, 47, (11), pp. 2412-2419.

Owens, D H, Chu, B, Cai, Z, Rogers, E, Freeman, C T and Lewin, P L (2010) Modelling the Influence of Non-Minimum Phase Zeros on Gradient Based Linear Iterative Learning Control At 2010 IEEE Multi-conference on Systems and Control. , pp. 392-397.

Cai, Zhonglun, Tong, Daisy, Freeman, Christopher and Rogers, Eric (2011) Application of Newton-method Based ILC to 3D Stroke Rehabilitation At 18th IFAC World Congress, Italy. 28 Aug - 02 Sep 2011. , pp. 4851-4856.

Hughes, Anne-Marie, Burridge, Jane, Freeman, Christopher, Chappell, Paul, Lewin, Paul and Rogers, Eric (2008) Research and development work relating to assistive technology 2007–08: Presented to Parliament pursuant to section 22 of the Chronically Sick and Disabled Persons Act 1970

Meadmore, Katie, Cai, Zhonglun, Tong, Daisy, Hughes, Ann-Marie, Freeman, Christopher, Rogers, Eric and Burridge, Jane (2011) SAIL: A 3D rehabilitation system to improve arm function following stroke Progress in Neurology and Psychiatry, 15, (2), pp. 6-10.

Cai, Zhonglun, Tong, Daisy, Meadmore, Katie, Freeman, Christopher, Hughes, Anne-Marie, Rogers, Eric and Burridge, Jane (2011) Design and Control of a 3D Stroke Rehabilitation Platform At International Conference on Rehabilitation Robotics, Switzerland. 6 pp, pp. 1-6.

Meadmore, Katie, Cai, Zhonglun, Tong, Daisy, Hughes, Anne-Marie, Freeman, Christopher, Rogers, Eric and Burridge, Jane (2011) Upper Limb Stroke Rehabilitation: The Effectiveness of Stimulation Assistance through Iterative Learning (SAIL) At International Conference on Rehabilitation Robotics, Switzerland.

Cai, Zhonglun, Tong, Daisy and Freeman, C.T. (2011) 3D stroke rehabilitation using electrical stimulation and robotics At Set for Britain 2011. 14 Mar 2011.

Wang, L, Freeman, C T, Chai, S and Rogers, Eric (2011) Multivariable Repetitive-predictive Control of a Robot Arm with Experimental Results At 18th IFAC World Congress, Milano, Italy, August 28 - September 2, 2011. , pp. 7672-7677.

Hladowski, L, Galkowski, K, Cai, Z, Rogers, E, Freeman, C T and Lewin, P L (2011) A 2D systems approach to iterative learning control for discrete linear processes with zero Markov parameters International Journal of Control, 84, (7), pp. 1246-1262.

Tong, Daisy, Cai, Zhonglun, Meadmore, Katie, Hughes, Anne-Marie, Freeman, Christopher, Burridge, Jane and Rogers, E (2011) 3D stroke rehabilitation using electrical stimulation and robotics At Multidisciplinary Postgraduate Research Showcase.

Burridge, J H, Hughes, Ann-Marie, Freeman, Christopher, Rogers, Eric and Tedesco-Triccas, L (2011) Using technology to optimize recovery in upper limb stroke rehabilitation At Festival of International Conferences on Caregiving, Disability, Aging and Technology - FICCDAT 2011, Canada. 05 - 08 Jun 2011.

Le, F, Freeman, C T, Markovsky, I and Rogers, E (2011) Progress and open questions in the identification of electrically stimulated human muscle for stroke rehabilitation In, System Identification, Environment Modelling and Control System Design L .Wang and H. Garnier eds. Springer

Freeman, Christopher and Tan, Ying (2011) Guest Editorial: Iterative Learning Control and Repetitive Control International Journal of Control, 84, (7), pp. 1193-1195.

Hughes, Ann-Marie, Freeman, Christopher, Meadmore, Katie, Burridge, Jane and Rogers, Eric (2011) Research and development work relating to assistive technology 2010-11: Presented to Parliament pursuant to Section 22 of the Chronically Sick and Disabled Persons Act 1970

Meadmore, Katie, Hughes, Ann-Marie, Freeman, Christopher, Tong, Daisy, Rogers, Eric and Burridge, Jane (2011) Iterative Learning Mediated FES in Stroke Rehabilitation At 16th IFESS Annual Conference, 2011, Brazil. 08 - 11 Sep 2011. 3 pp.

Freeman, Christopher, Alsubaie, Muhammad, Cai, Zhonglun, Rogers, Eric and Lewin, Paul (2013) A Common Setting for the Design of Iterative Learning and Repetitive Controllers with Experimental Verification International Journal of Adaptive Control and Signal Processing, 27, (3), pp. 230-249. (doi:10.1002/acs.2299).

Dinh Van, Thanh, Freeman, Christopher and Lewin, Paul (2011) Development of a multivariable test facility for the evaluation of iterative learning controllers At UKACC PhD Student Presentation Event.

Leyland, Louise-Ann Leyland, Meadmore, Katie L., Godwin, Hayward J., Benson, Valerie, Burridge, Jane H., Freeman, Christopher, Hughes, Ann-Marie, Rogers, Eric and Liversedge, Simon P. (2011) Patterns of Eye Movements during Cancellation Tasks in Stroke Patients Exhibiting Hemispatial Neglect At European Conference on Eye Movements, France.

Wang, L, Chai, S, Rogers, E and Freeman, C T (2012) Multivariable Repetitive-predictive Controllers using Frequency Decomposition IEEE Transactions on Control Systems Technology, 20, (6), pp. 1597-1604.

Freeman, Christopher T., Rogers, Eric, Hughes, Anne-Marie, Burridge, Jane H. and Meadmore, Katie L. (2012) Iterative learning control in healthcare electrical stimulation and robotic-assisted upper limb stroke rehabilitation IEEE Control Systems Magazine, 32, (1), pp. 18-43. (doi:10.1109/MCS.2011.2173261).

Freeman, Christopher and Tan, Ying (2012) Iterative Learning Control with Mixed Constraints for Point-to-Point Tracking IEEE Transactions on Control Systems Technology, 21, (3), pp. 604-616.

Meadmore, Katie, Hughes, Anne-Marie, Freeman, Christopher, Benson, Victoria, Tong, Daisy, Burridge, Jane and Rogers, Eric (2011) User feedback driving change in the design of new technologies At Southampton Neurosciences Group.

Freeman, Christopher, Tong, Daisy, Meadmore, Katie, Hughes, Ann-Marie, Rogers, Eric and Burridge, Jane (2012) FES based Rehabilitation of the Upper Limb using Input/Output Linearization and ILC At 2012 American Control Conference. 27 - 29 Jun 2012. , pp. 4825-4830.

Soska, Anna, Freeman, Christopher and Rogers, Eric (2012) ILC for FES-based Stroke Rehabilitation of Hand and Wrist At IEEE Multiconference on Systems and Control (MSC 2012), Croatia. 03 - 05 Oct 2012. , pp. 1267-1272.

Dinh Van, Thanh, Freeman, Christopher and Lewin, Paul (2012) Development of a multivariable test facility for the evaluation of iterative learning controllers At 2012 American Control Conference. 27 - 29 Jun 2012. , pp. 621-626.

Meadmore, Katie, Hughes, Anne-Marie, Freeman, Christopher, Tong, Daisy, Burridge, Jane and Rogers, Eric (2011) Investigating the effectiveness of Stimulation Assistance through Iterative Learning for upper limb stroke rehabilitation At UK Stroke Forum, United Kingdom. 29 Nov - 01 Dec 2011. , p. 49.

Hughes, Ann-Marie, Meadmore, Katie, Freeman, Christopher, Burridge, Jane and Rogers, Eric (2012) Arm rehabilitation using combined technologies: Experiences with stroke, potential for use with MS At Rehabilitation in Multiple Sclerosis (RIMS), Germany. 31 May - 02 Jun 2012.

Hughes, Anne-Marie, Meadmore, Katie, Freeman, Christopher, Benson, Valerie, Tong, Daisy, Burridge, Jane and Rogers, Eric (2012) ILC mediated FES for stroke arm rehabilitation At 7th World Congress for Neurorehabilitation, Australia. 16 - 19 May 2012.

Meadmore, K L, Hughes, A-M, Freeman, C T, Cai, Z, Tong, D, Burridge, J H and Rogers, E (2012) Functional Electrical Stimulation mediated by Iterative Learning Control and 3D robotics reduces motor impairment in chronic stroke Journal of Neuroengineering and Rehabilitation, 9, (32), pp. 1-11.

Hughes, Anne-Marie, Exell, Timothy, Meadmore, Katie, Soska, Anna, Freeman, Chris, Burridge, Jane and Rogers, Eric (2012) Functional Electrical Stimulation and Iterative Learning in stroke rehabilitation for the upper limb At SET for BRITAIN, United Kingdom. 01 Mar 2012.

Hladowski, L, Galkowski, K, Rogers, E, Cai, Z, Freeman, C T and Lewin, P L (2011) Iterative Learning Control for Discrete Linear Systems with Zero Markov Parameters Using Repetitive Process Stability Theory At 2011 IEEE Multi-Conference on Systems and Control, United States. 28 - 30 Oct 2011. , CD-ROM.

Soska, Anna, Freeman, Christopher and Rogers, Eric (2011) Modelling for control of human hand and wrist motion for robotic assisted stroke rehabilitation At UKACC PhD Student Presentation Event, United Kingdom. 10 Mar 2011.

Wang, L., Freeman, C.T., Chai, S. and Rogers, E. (2012) Repetitive-predictive control of a robot arm with constraints At 2012 American Control Conference (ACC 2012), Canada. 27 - 29 Jun 2012. 6 pp, pp. 5495-5500.

Dabkowski, Pawel, Galkowski, Krzysztof, Rogers, Eric, Cai, Zhonglun, Freeman, Chris T., Lewin, Paul L., Hurák, Zdenek and Kummert, Anton (2012) Experimentally verified iterative learning control based on repetitive process stability theory At 2012 American Control Conference (ACC 2012), Canada. 27 - 29 Jun 2012. 6 pp, pp. 604-609.

Exell, T., Burridge, J.H., Freeman, C.T., Hallewell, E., Hughes, A.M., Meadmore, K.L ., Rogers, E. and Warner, M.B. (2012) Upper limb coordination during reach to grasp tasks performed at self-selected and maximal speeds At Biomechanics Interest Group 2012 (BIG 2012), Nicaragua. 04 Apr 2012.

Tan, Y., Dai, H.D. and Freeman, C.T. (2012) A dual iterative learning control loops for cascade systems At 24th Chinese Control and Decision Conference, China. 25 - 27 Jul 2012. 6 pp, pp. 694-699.

Dinh Van, Thanh, Freeman, Chris T., Lewin, Paul L. and Tan, Ying (2012) Assessment of gradient-based point-to-point ILC for MIMO systems with varying interaction At IEEE Multi-Conference on Systems and Control (MSC 2012), Croatia. 03 - 05 Oct 2012. 6 pp, pp. 1220-1225.

Verstappen, R.J.L.M., Freeman, C.T., Rogers, E., Sampson, T. and Burridge, J.H. (2012) Robust higher order repetitive control applied to human tremor suppression At IEEE Multi-Conference on Systems and Control (MSC 2012), Croatia. 03 - 05 Oct 2012. , pp. 1214-1219.

Brend, O., Freeman, C.T. and French, M. (2012) Application of multiple model adaptive control to upper limb stroke rehabilitation At IEEE Multiconference on Systems and Control (MSC 2012), Croatia. 03 - 05 Oct 2012. 6 pp, pp. 69-74.

Chu, B, Cai, Z, Owens, D H, Rogers, E, Freeman, C T and Lewin, P L (2012) Experimental Verification of Constrained Iterative Learning Control Using Successive Projection At UKACC International conference on CONTROL 2012. 6 pp, pp. 351-356.

Hughes, A -M, Meadmore, K L, Freeman, C T, Cai, Z, Tong, D, Rogers, E and Burridge, J H (2012) SAIL: A 3D rehabilitation system to improve arm function following stroke Progress in Neurology and Psychiatry, 16, (4), pp. 17-19.

Owens, D.H., Freeman, C.T. and Chu, B. (2013) Multivariable norm optimal iterative learning control with auxiliary optimization International Journal of Control, 86, (6), pp. 1026-1045.

Dinh Van, T., Freeman, C.T. and Lewin, P.L. (2014) Assessment of gradient-based iterative learning controllers using a multivariable test facility with varying interaction Control Engineering Practice, 29, pp. 158-173.

Owens, D.H., Freeman, C.T. and Dinh Van, T. (2013) Norm optimal iterative learning control with intermediate point weighting: theory, algorithms and experimental evaluation IEEE Transactions on Control Systems Technology, 21, (3), pp. 999-1007. (doi:10.1109/TCST.2012.2196281).

Owens, D H, Freeman, C T and Dinh Van, T (2012) Intermediate Point Norm Optimal Iterative Learning Control At 51st IEEE Conference on Decision and Control, United States. 10 - 13 Dec 2012. 6 pp, pp. 3954-3959.

Dinh Van, T, Freeman, C T, Lewin, P L and Tan, Y (2012) Convergence and Robustness of a Point-to-Point Iterative Learning Control Algorithm At 51st IEEE Conference on Decision and Control, United States. 10 - 13 Dec 2012. 6 pp, pp. 4678-4683.

Owens, D H, Freeman, C T and Chu, B (2014) An Inverse Approach to Intermediate Point Norm Optimal Iterative Learning Control with Auxiliary Optimization International Journal of Control, 87, (8), pp. 1646-1671. (doi:10.1080/00207179.2014.880951).

Wang, Liuping, Freeman, C T, Chai, Shan and Rogers, E (2013) Predictive-repetitive Control with Constraints: from Design to Implementation Journal of Process Control, 23, pp. 956-967.

Freeman, C.T. and Dinh Van, T. (2014) Experimentally verified point-to-point iterative learning control for highly coupled systems International Journal of Adaptive Control and Signal Processing, 89, (3), pp. 302-324. (doi:10.1002/acs.2472).

Owens, D H, Freeman, C T and Chu, Bing (2013) Norm Optimal Iterative Learning Control with Auxiliary Optimization – An Inverse Model Approach At American Control Conference, 17-19 June 2013. 17 - 19 Jun 2013. 6 pp, pp. 6691-6696.

Zhou, Shou-Han, Tan, Ying, Oetomo, Denny, Freeman, C T, Burdet, Etienne and Mareels, Iven (2013) Point-to-point Learning in Human Motor Systems At American Control Conference, 17-19 June 2013, United States. , pp. 5923-5928.

Zhou, Shou-Han, Tan, Ying, Oetomo, Denny, Freeman, C T and Mareels, Iven (2013) Trajectory Redundancy in Point-to-Point Tracking and Applications to Obstacle Avoidance At IEEE International Conference on Robotics and Automation, May 6 - 10, 2013, Germany.

Owens, D H, Freeman, C T and Chu, Bing (2013) Norm Optimal Iterative Learning Control with Auxiliary Optimization: A Switching Approach At IFAC International Workshop on Adaptation and Learning in Control and Signal Processing 2013, France. 03 - 05 Jul 2013. , pp. 140-145.

Dinh Van, Thanh, Freeman, C T and Lewin, P.L. (2013) Evaluation of iterative learning control using a multivariable test facility At 5th IFAC International Workshop on Adaption and Learning. 03 - 05 Jul 2013. 6 pp, pp. 146-151.

Soska, Anna, Freeman, Christopher, Exell, Timothy and Rogers, Eric (2013) Surface Electrode Array based Control of the Wrist and Hand At IFAC International Workshop on Adaptation and Learning in Control and Signal Processing, France. 03 - 05 Jul 2013. , pp. 164-169.

Hughes, Ann-Marie, Freeman, Christopher, Meagher, Claire, Pollet, Sebastien, Winstein, Carolee and Requejo, Philip (2014) Innovative rehabilitation technologies for the home At World Federation for NeuroRehabilitation (WFNR), Turkey. 08 - 12 Apr 2014.

Owens, D.H., Freeman, C.T. and Chu, B. (2013) Norm Optimal Iterative Learning Control for Planar Tracking Tasks At IFAC International Workshop on Adaptation and Learning in Control and Signal Processing, France. 6 pp, pp. 683-688.

Zhou, S. H., Tan, Y., Oetomo, D. and Freeman, C. T. (2013) On On-line Sampled-data Optimal Learning for Dynamic Systems with Uncertainties At 9th Asian Control Conference, Turkey. 23 - 26 Jun 2013. 7 pp.

Cai, Zhonglun, Bristow, D.A., Rogers, E. and Freeman, C.T. (2011) Experimental implementation of an iteration-varying optimal stochastic iterative learning control algorithm At 2011 IEEE International Symposium on Intelligent Control, United States. 28 - 30 Sep 2011. , pp. 406-411. (doi:10.1109/ISIC.2011.6045408).

Freeman, Christopher, Exell, Timothy, Meadmore, Katie, Hallewell, E., Hughes, Ann-Marie and Burridge, J.H. (2013) Computational models of upper limb movement during functional reaching tasks for application in electrical stimulation based stroke rehabilitation At 4th European Conference on Technically Assisted Rehabilitation, Germany.

Exell, Timothy, Freeman, Christopher, Meadmore, Katie, Kutlu, Mustafa, Hallewell, Emma, Hughes, Ann-Marie, Burridge, Jane H. and Rogers, Eric (2013) Goal Orientated stroke rehabilitation utilising electrical stimulation, iterative learning and Microsoft Kinect At International Conference on Rehabilitation Robotics 2013. 24 - 26 Jun 2013.

Meadmore, Katie, Exell, Timothy, Hallewell, E., Freeman, Christopher, Hughes, Ann-Marie, Kutlu, Mustafa, Burridge, J.H. and Rogers, E. (2013) Upper limb stroke rehabilitation using functional electrical stimulation mediated by iterative learning control At 4th Annual Conference of the International Functional Electrical Stimulation Society (UK and Ireland Chapter).

Meadmore, Katie, Exell, Timothy, Hughes, Ann-Marie, Hallewell, E., Freeman, Christopher, Kutlu, Mustafa, Burridge, Jane and Rogers, E. (2013) Electrical stimulation and iterative learning control for functional recovery in the upper limb post-stroke At International Conference on Rehabilitation Robotics 2013. 24 - 26 Jun 2013. (doi:10.1109/ICORR.2013.6650359).

Zhou, Shou-Han, Oetomo, Denny, Tan, Ying, Freeman, Christopher, Burdet, Etienne and Mareels, Iven (2013) Kinematic learning in humans and robots At 2013 IEEE International Conference on Robotics and Automation, Germany. 06 - 10 May 2013.

Owens, D.H., Chu, B., Rogers, E., Freeman, C.T. and Lewin, P.L. (2014) The influence of non-minimum phase zeros on the performance of optimal continuous-time iterative learning control IEEE Transactions on Control Systems Technology, 22, (3), pp. 1151-1158. (doi:10.1109/TCST.2013.2267743).

Soska, Anna, Freeman, Christopher and Rogers, Eric (2013) Hand Restoration System using Surface Electrode Array Stimulation At Multidisciplinary Research Showcase 2013, United Kingdom. 02 May 2013.

Brend, O., Freeman, C.T. and French, M. (2013) Adaptive control of functional electrical stimulation for upper limb stroke rehabilitation At IEEE International Conference on Control Applications, India. 28 - 30 Aug 2013. , pp. 97-102.

Brend, O., Freeman, C.T. and French, M. (2013) Norm optimal iterative learning control based on a multiple model switched adaptive framework At IEEE 52nd Annual Conference on Decision and Control, Italy. 10 - 13 Dec 2013. 6 pp, pp. 7297-7302.

Al-Gburi, A., French, M. and Freeman, C.T. (2013) Robustness Analysis of Nonlinear Systems with Feedback Linearizing Control At IEEE 52nd Annual Conference on Decision and Control, Italy. 10 - 13 Dec 2013. , pp. 3055-3060.

Brend, O., Robles-Garcia, V., Banks, T., Luo, L., Zheng, J., Freeman, C.T., French, M., Hughes, A.M. and Burridge, J. (2013) An investigation into functional electrical stimulation induced fatigue and compensation in healthy young and older adults At Research on Ageing Exhibition, United Kingdom. 05 Sep 2013.

Yang, Kai, Freeman, C T, Torah, R.N., Beeby, S P and Tudor, M. J. (2013) Flexible Screen Printed Fabric Electrode Array for Wearable Functional Electrical Stimulation for Medical Application At International Conference on Flexible and Stretchable Electronics, Netherlands. 12 - 13 Nov 2013.

Hallewell, E., Exell, T., Meadmore, K.L ., Freeman, C.T., Kutlu, Mustafa, Hughes, Ann-Marie and Burridge, J.H. (2013) Goal-orientated Functional Rehabilitation using Electrical Stimulation and Iterative Learning Control for Motor Recovery in the Upper Extremity Post-Stroke At UK Stroke Forum Conference. 04 - 05 Dec 2013.

Freeman, C T (2014) Newton-method based iterative learning control for robot-assisted rehabilitation using FES Mechatronics, 24, pp. 934-943. (doi:10.1016/j.mechatronics.2014.04.001).

Meadmore, K.L ., Hughes, Ann-Marie, Freeman, C.T., Benson, V. and Burridge, J.H. (2013) Participant Feedback in the Evaluation of Novel Stroke Rehabilitation Technologies Journal of Rehabilitation Robotics, 1, pp. 82-92.

Zhou, S.-H., Tan, Y., Oetomo, D., Freeman, C.T., Burdet, E and Mareels, I (2016) Modelling of Endpoint Feedback Learning Implemented Through Point-to-Point Learning Control IEEE Transactions on Control Systems Technology

Freeman, C.T. (2015) Upper Limb Electrical Stimulation using Input-Output Linearization and Iterative Learning Control IEEE Transactions on Control Systems Technology, 23, (4), pp. 1546-1554. (DOI: 10.1109/TCST.2014.2363412).

Freeman, C.T., Sampson, P.A., Burridge, J.H. and Hughes, A.M. (2015) Repetitive control of functional electrical stimulation for induced tremor suppression Mechatronics, 32, pp. 79-87. (doi:10.1016/j.mechatronics.2015.10.008).

Freeman, C.T., Exell, T., Meadmore, K. L., Hallewell, E. and Hughes, A.-M. (2015) Computational models of upper limb motion during functional reaching tasks for application in FES based stroke rehabilitation Biomedical Engineering Journal, 60, (3), pp. 179-191. (doi:10.1515/bmt-2014-0011).

Freeman, C.T. (2014) Electrode Array-based Electrical Stimulation using ILC with Restricted Input Subspace Control Engineering Practice, 23, (2), pp. 32-43.

Brend, O., Freeman, C.T. and French, M. (2015) Multiple model adaptive control of functional electrical stimulation IEEE Transactions on Control Systems Technology, 23, (5), pp. 1901-1913. (doi:10.1109/TCST.2015.2394508).

Cannella, G., Laila, D.S. and Freeman, C.T. (2014) Low Cost Support Device for Stroke Rehabilitation At International Workshop on Medical and Service Robotics (MESROB), Switzerland. 10 - 12 Jul 2014.

Freeman, C.T., Zhou, S.-H., Tan, Y,, Oetomo, D., Burdet, E. and Mareels, I. (2014) On Experimentally Validated Iterative Learning Control in Human Motor Systems At American Control Conference. 04 - 06 Jun 2014. , pp. 4262-4267.

Freeman, C.T. (2014) Iterative Learning Control with Restricted Input Subspace for Electrode Array-based FES At American Control Conference. 04 - 06 Jun 2014. , pp. 4243-4248.

Copur, E. H., Freeman, C.T., Chu, B. and Laila, D.S. (2014) Repetitive Control Based Tremor Suppression using Electrical Stimulation At UKACC 10th International Conference on Control, United Kingdom. 09 - 11 Jul 2014. 6 pp.

Freeman, C.T. (2014) Phase-lead ILC based electrode array stimulation using reduced input subspace At UKACC 10th International Conference on Control, United Kingdom. 09 - 11 Jul 2014. , pp. 591-596.

Kutlu, M., Exell, T., Hallewell, E., Meadmore, K.L ., Freeman, C.T., Hughes, A.M. and Laila, D.S. (2014) Goal-Orientated Upper Limb Stroke Rehabilitation Utilizing Functional Electrical Stimulation and Advanced Sensing and Control Technologies At World Congress for NeuroRehabilitation, Turkey. 08 - 12 Apr 2014.

Brend, O., Banks, T., Freeman, C.T., Hughes, A.M., Luo, L., Robles-Garcia, V., Zheng, J. and Burridge, J.H. (2013) An investigation into functional electrical stimulation induced fatigue and compensation At Healthy Young and Older Adults Aging Research Exhibition, United Kingdom. 05 Sep 2013.

Exell, T., Freeman, C.T., Meadmore, K. L., Hughes, A.M., Hallewell, E. and Burridge, J.H. (2013) Optimisation of Hand Posture Stimulation Using an Electrode Array and Iterative Learning Control Journal of Automatic Control, 21, (1), pp. 1-5.

Exell, T., Meadmore, K. L., Burridge, J. H., Freeman, C. T., Hallewell, E., Hughes, A. M., Rogers, E. and Warner, M.B. (2013) Robotic support during stroke rehabilitation: A case study comparison of robot-assisted and free movement during a functional reaching task At The Society for Research in Rehabilitation Winter Conference, United Kingdom. 05 Feb 2013.

Exell, T., Freeman, C. T., Meadmore, K. L., Hughes, A. M., Hallewell, E. and Burridge, J. H. (2013) Stimulation of Hand Postures Using an Electrode Array and Iterative Learning Control At 18th IFESS Annual Conference. 06 - 08 Jun 2013. , pp. 88-91.

Hallewell, E., Meadmore, K. L., Hughes, A. M., Exell, T., Freeman, C.T. and Burridge, J. H. (2013) Goal-orientated functional rehabilitation using Electrical Stimulation and Iterative Learning Control for motor recovery in the Upper Extremity Post-Stroke At 18th IFESS Annual Conference. 06 - 08 Jun 2013. , pp. 104-107.

Tan, Y., Freeman, C.T., Zhou, S.-H., Davis, R., Oetemo, D. and Mareels, I. (2014) Iterative Learning Control and its Applications in Computational Modelling of Human Motor Systems At International Conference on the Analysis and Mathematical Applications in Engineering and Science, Malaysia. 19 - 22 Jan 2014.

Exell, T., Freeman, C.T., Meadmore, K. L., Kutlu, M., Hughes, A. M., Hallewell, E., Rogers, E. and Burridge, J. H. (2014) Iterative Learning Control as an Enabler for Goal Oriented Upper Limb Stroke Rehabilitation At American Control Conference. 04 - 06 Jun 2014. , pp. 4796-4801.

Yang, K., Freeman, C.T., Torah, R.N., Beeby, S.P. and Tudor, J. (2014) Screen Printed Fabric Electrode Array for Wearable Functional Electrical Stimulation Sensors and Actuators A: Physical, 213, pp. 108-115.

Wang, L, Freeman, C. T. and Rogers, E (2014) Iterative Learning Control with Time Domain Prediction using Laguerre Functions At 19th World Congress of the International Federation of Automatic Control. 24 - 28 Aug 2014. , pp. 395-400.

Hladowski, L, Dinh Van, Thanh, Galkowski, K., Rogers, E and Freeman, C T (2014) 2D systems based iterative learning control design for multiple-input multiple-output systems At 19th International Conference on Methods and Models in Automation and Robotics, Poland. , pp. 27-32.

Owens, David H., Freeman, Christopher and Chu, Bing (2015) Generalized Norm Optimal Iterative Learning Control with Intermediate Point and Sub-interval Tracking International Journal of Automation and Computing, 12, (3), pp. 243-253.

Cannella, G, Laila, D.S. and Freeman, C.T. (2014) Adaptive low cost gravity balanced orthosis At International Symposium on Multibody Systems and Mechatronics 2014, Mexico. 21 - 24 Oct 2014.

Meadmore, K.L ., Exell, T., Hallewell, E., Hughes, A.M., Freeman, C.T., Kutlu, M., Benson, V., Rogers, E and Burridge, J.H. (2014) The application of precisely controlled functional electrical stimulation to the shoulder, elbow and wrist for upper limb stroke rehabilitation: a feasibility study Journal of NeuroEngineering and Rehabilitation, 11, (105)

Sampson, P., Freeman, C.T., Coote, S., Demain, S., Feys, P., Meadmore, K. L. and Hughes, A. -M. (2015) Using functional electrical stimulation mediated by iterative learning control and robotics to improve arm movement for people with Multiple Sclerosis IEEE Transactions on Neural Systems and Rehabilitation Engineering, 24, (2) (doi:10.1109/TNSRE.2015.2413906).

Exell, Timothy, Freeman, Christopher T., Meadmore, Katie, Hughes, Ann-Marie, Hallewell, Emma, Rogers, Eric and Burridge, Jane H. (2011) Control in stroke rehabilitation In, Samad, Tariq and Annaswamy, Anuradha (eds.) The Impact of Control Technology: Overview, Success Stories and Research Challenges. London, GB, IEEE Control Systems Society

Hughes, A.M., Hallewell, E., Kutlu, M., Freeman, C.T. and Meadmore, K. L. (2014) Electrical Stimulation and Iterative Learning Control combined with real objects and simulated tasks to assist Motor Recovery in the Upper Extremity Post-Stroke At 19th IFESS Annual Conference, Malaysia.

Kutlu, Mustafa, Freeman, Christopher T., Hallewell, Emma, Hughes, Ann-Marie and Laila, Dina Shona (2015) Electrode-array based functional electrical stimulation for upper-limb stroke rehabilitation with innovative sensing and control At TAR 2015: Technically Assisted Rehabilitation, Germany. 12 - 13 Mar 2015. 4 pp.

Hughes, Ann-Marie, Hallewell, Emma, Kutlu, Mustafa, Freeman, Christopher and Meadmore, Katie (2014) Combining electrical stimulation mediated by iterative learning control with movement practice using real objects and simulated tasks for post-stroke upper extremity rehabilitation Neurosonology and Cerebral Hemodynamics, 10, (2), pp. 117-122.

Copur, E. H., Freeman, C. T., Chu, B. and Laila, D.S. (2015) System identification for FES-based tremor supression European Journal of Control, pp. 1-20. (doi:10.1016/j.ejcon.2015.12.003).

Kutlu, M., Freeman, C. T., Hallewell, E., Hughes, A.M. and Laila, D.S. (2016) Upper-Limb Stroke Rehabilitation using Electrode-Array Based Functional Electrical Stimulation with Sensing and Control Innovations Medical Engineering & Physics (doi:10.1016/j.medengphy.2016.01.004).

Cannella, G., Laila, D.S. and Freeman, C. T. (2015) Design of a Hybrid Adaptive Support Device for FES Upper Limb Stroke Rehabilitation In, New Trends in Medical and Service Robotics. Springer Verlag (Mechanisms and Machine Science).

Kutlu, M., Freeman, C. T., Hallewell, E., Hughes, A.M. and Laila, D.S. (2015) Goal-Orientated Upper-Limb Stroke Rehabilitation Utilising Functional Electrical Stimulation with Advanced Sensing and Control At SET for BRITAIN, United Kingdom.

Cannella, G., Laila, D.S. and Freeman, C. T. (2015) Design of an Affordable Adaptive Orthosis for Upper Limb Stroke Rehabilitation At SET for BRITAIN, United Kingdom.

Copur, E. H., Freeman, C. T., Chu, B. and Laila, D.S. (2015) Repetitive Control for Tremor Suppression Using Electrical Stimulation At 5th Annual Conference of the International Functional Electrical Stimulation Society (IFESS) (UK and Ireland Chapter), United Kingdom.

Kutlu, M., Freeman, C. T., Hallewell, E., Hughes, A.M. and Laila, D.S. (2015) Upper Limb Stroke Rehabilitation combining Electrode-Arrays with Low-cost Sensing and Advanced Control At 5th Annual Conference of the International Functional Electrical Stimulation Society (IFESS) (UK and Ireland Chapter), United Kingdom.

Yang, Kai, Freeman, C. T., Torah, R, Beeby, S. P. and Tudor, M. J. (2015) Fabrication and Evaluation of Screen Printed Fabric Electrode Arrays At 5th Annual Conference of the International Functional Electrical Stimulation Society (IFESS) (UK and Ireland Chapter), United Kingdom.

Kutlu, M., Freeman, C.T., Hallewell, E., Hughes, A.M. and Laila, D.S. (2015) FES-based upper-limb stroke rehabilitation with advanced sensing and control At International Conference on Rehabilitation Robotics, Singapore. 11 - 14 Aug 2015. 6 pp, pp. 253-258.

Cannella, G., Laila, D.S. and Freeman, C. T. (2015) Mechanical design of an affordable adaptive gravity balanced orthosis for upper limb stroke rehabilitation Mechanics Based Design of Structures and Machines, An International Journal (doi:10.1080/15397734.2015.1054513).

Chu, B., Freeman, C. T. and Owens, D.H. (2015) A Novel Design Framework for Point-to-Point ILC Using Successive Projection IEEE Transactions on Control Systems Technology, 23, (3), pp. 1156-1163.

Freeman, C.T., Rogers, E., Burridge, J.H., Hughes, A.M. and Meadmore, K. L. (2015) Iterative Learning Control for Electrical Stimulation and Stroke Rehabilitation, Springer, 134pp. (SpringerBriefs in Electrical and Computer Engineering).

Freeman, C.T. and French, M. (2015) Estimation Based Multiple Model Iterative Learning Control At 54th IEEE Conference on Decision and Control. , pp. 6075-6080.

Chen, Yiyang, Chu, B. and Freeman, C. T. (2015) Point-to-Point Iterative Learning Control with Optimal Tracking Time Allocation At 54th IEEE Conference on Decision and Control. , pp. 6089-6094.

Chu, B., Owens, D.H. and Freeman, C. T. (2015) Predictive Gradient Iterative Learning Control At 54th IEEE Conference on Decision and Control. , pp. 2377-2382.

Copur, E. H., Freeman, C. T., Chu, B. and Laila, D.S. (2015) FES Based Tremor Suppression Using Repetitive Control At 54th IEEE Conference on Decision and Control. , pp. 6023-6028.

Chu, B., Owens, D.H. and Freeman, C.T. (2015) Iterative learning control with predictive trial information: convergence, robustness and experimental verifications IEEE Transactions on Control Systems Technology, pp. 1-8. (doi:10.1109/TCST.2015.2476779).

Chen, Y., Chu, B. and Freeman, C. T. (2015) Point-to-Point Iterative Learning Control with Optimal Tracking Time Allocation At Control & Optimisation UK, United Kingdom.

Freeman, C. T. (2016) Robust Control Design for Electrical Stimulation Electrode Arrays At 2016 IEEE American Control Conference. 06 - 08 Jul 2016.

Freeman, C. T. (2016) Control System Design for Electrical Stimulation in Upper Limb Rehabilitation, Springer International Publishing, 192pp.

Al-Gburi, A., Freeman, C. T. and French, M. C. (2017) Gap metric based robustness analysis of nonlinear systems with full and partial feedback linearization International Journal of Control

Freeman, C. T., Yang, K., Tudor, J. and Kutlu, M. (2016) Feedback Control of Electrical Stimulation Electrode Arrays Medical Engineering & Physics, 38, (11), pp. 1185-1194. (doi:10.1016/j.medengphy.2016.07.002).

Wang, Liuping, Freeman, Christopher T. and Rogers, Eric (2016) Predictive iterative learning control with experimental validation Control Engineering Practice, 53, pp. 24-34. (doi:10.1016/j.conengprac.2016.04.001).

Freeman, Christopher, Tudor, Michael, Torah, Russel, Hughes, Ann-Marie and Beeby, Stephen (2016) Printed e-textiles for wearable stroke rehabilitation At Printed Electronics Europe, Germany. 27 - 28 Apr 2016. 1 pp.

Hughes, Ann-Marie, Freeman, Christopher, Banks, Tom, Savelberg, Hans and Gobbi, Mary (2016) Using the Tuning Methodology to design the founding benchmark competences for a new academic professional field: the case of advanced rehabilitation technologies Tuning Journal for Higher Education, pp. 1-26.

Freeman, Christopher, Yang, Kai, Tudor, Michael and Kutlu, Mustafa, Cagri (2016) Dataset for Feedback Control of Electrical Stimulation Electrode Arrays University of Southampton doi:10.5258/SOTON/396293 [Dataset]

Rogers, Eric, Freeman, Christopher, Hughes, Ann-Marie, Burridge, Jane, Meadmore, Katie and Exell, Timothy (2016) Iterative learning control as an enabler for robotic-assisted upper limb stroke rehabilitation In, Dimirovski, Georgi M. (eds.) Complex Systems: Relationships between Control, Communications and Computing. Cham, CH, Springer International Publishing pp. 157-187. (Studies in Systems, Decision and Control, 55). (doi:10.1007/978-3-319-28860-4).

Chen, Yiyang, Chu, Bing and Freeman, Christopher (2016) Spatial path tracking using iterative learning control At 55th IEEE Conference on Decision and Control, United States. 12 - 14 Dec 2016. 6 pp.

Freeman, Christopher and Schauer, Thomas (2016) Editorial. Advances in functional electrical stimulation modelling and control Medical Engineering & Physics, 38, (11), pp. 1157-1158. (doi:10.1016/j.medengphy.2016.09.004).

Freeman, C.T. (2017) Robust ILC design for electrical stimulation in upper limb rehabilitation Automatica

Chen, Yiyang, Chu, Bing and Freeman, Christopher (2017) Point-to-point iterative learning control with optimal tracking time allocation IEEE Transactions on Control Systems Technology

Copur, Engin, Freeman, Christopher, Chu, Bing and Laila, Dina (2017) Repetitive control of electrical stimulation for tremor suppression IEEE Transactions on Control Systems Technology

Ljesnjanin, Merid, Tan, Ying, Oetomo, Denny and Freeman, Christopher (2017) Spatial iterative learning control: systems with input saturation At 2017 American Control Conference, United States. 24 - 26 May 2017.

Ljesnjanin, Merid, Tan, Ying, Oetomo, Denny and Freeman, Christopher (2016) Spatial iterative learning control: output tracking At World Congress of the International Federation of Automatic Control, France. 09 - 14 Jul 2017.

Kutlu, Mustafa, Freeman, Christopher, Hughes, Ann-Marie and Spraggs, Matthew (2016) A home-based FES system for upper-limb stroke rehabilitation with iterative learning control At World Congress of the International Federation of Automatic Control, France. 09 - 14 Jul 2017.

Kutlu, Mustafa, Freeman, Christopher and Spraggs, Matthew (2017) Functional electrical stimulation for home-based upper-limb stroke rehabilitation At TAR 2017: Technically Assisted Rehabilitation, Germany. 08 - 10 Mar 2017.

Chen, Yiyang, Chu, Bing and Freeman, Christopher (2016) Point-to-point iterative learning control with optimal tracking time allocation: a coordinate descent approach At 36th Chinese Control Conference, China. 26 - 28 Jul 2017. 6 pp.

Chen, Yiyang, Chu, Bing and Freeman, Christopher (2017) Generalized norm optimal iterative learning control: constraint handling At IFAC 2017 World Congress, The 20th World Congress of the International Federation of Automatic Control, France. 09 - 14 Jul 2017.

Freeman, Christopher (2017) Multiple Model Switched Repetitive Control At IEEE Conference on Decision and Control, Australia. 12 - 15 Dec 2017.

Yang, Kai, Meadmore, Katie, Hughes, Ann-Marie, Grabham, Neil, Spraggs, Matthew, Freeman, Christopher, Beeby, Stephen, Torah, Russel and Tudor, John (2016) Low-cost personalised instrumented clothing with integrated FES electrodes for upper limb rehabilitationKai At Researcher Links Workshop on Healthcare Technologies for Aging Populations, China. 06 - 08 Dec 2016.

Wang, Liuping, Freeman, Christopher and Rogers, Eric (2017) Observer-based predictive repetitive control with experimental validation At IFAC 2017 World Congress, The 20th World Congress of the International Federation of Automatic Control, France. 09 - 14 Jul 2017.

Wang, Liuping, Freeman, Christopher and Rogers, Eric (2017) Experimental evaluation of automatic tuning of PID controllers for an electro-mechanical system At 20th IFAC World Congress, Toulouse, France. 09 - 14 Jul 2017.

Meadmore, Katie, Hughes, Ann-Marie, Yang, Kai, Grabham, Neil, Spraggs, Matthew, Freeman, Christopher, Tudor, John and Beeby, Stephen (2017) Understanding the relationship between engagement in upper limb activity and expectation of motor recovery At RehabWeek 2017: Translation and Clinical Delivery, London, United Kingdom. 17 - 21 Jul 2017.

Meadmore, Katie, EXELL, TIMOTHY, Burridge, Jane, Hughes, Ann-Marie, Freeman, Christopher and Benson, Valerie (2017) Upper limb and eye movement coordination during reaching tasks in people with stroke Disability and Rehabilitation

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