[PDF][PDF] A 4-DOF upper limb exoskeleton for stroke rehabilitation: kinematics mechanics and control
A Sutapun, V Sangveraphunsiri - International Journal of Mechanical …, 2015 - ijmerr.com
A 4-DOF power-assist exoskeleton for stroke rehabilitation is developed in this research
work. Its configuration consists of three degrees of freedom, two of them are adjustable to
suit patient arm, at the shoulder joint and one degree of freedom at the elbow joint. The
mechanical system is designed based on low friction, no backlash, low inertia, large
dynamic range, and backdrivable. Kinematics, link-configuration, and control strategies are
detailed here. Two control strategies: assistive-resistive mode, based on impedance force …
work. Its configuration consists of three degrees of freedom, two of them are adjustable to
suit patient arm, at the shoulder joint and one degree of freedom at the elbow joint. The
mechanical system is designed based on low friction, no backlash, low inertia, large
dynamic range, and backdrivable. Kinematics, link-configuration, and control strategies are
detailed here. Two control strategies: assistive-resistive mode, based on impedance force …
