Control of an exoskeleton robot for upper limb rehabilitation

Control of an exoskeleton robot for upper limb rehabilitation

Since traditional methods of training have been insufficient for the rehabilitation, diversities of robots are being introduced to assist patients, doctors, and trainers. In this research, a novel 7-DOF exoskeleton robot for upper limb rehabilitation is proposed. 6 DOF are actuated by micro motor wh...

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Bibliographic Details
Published in:2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) pp. 528 - 532
Main Authors: Lin Liu, Yunyong Shi, Le Xie
Format: Conference Proceeding
Language:English
Published: IEEE 01-06-2016
Subjects:
Actuators
Elbow
Exoskeletons
Robots
Trajectory
Wrist
Online Access:Get full text
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Summary:Since traditional methods of training have been insufficient for the rehabilitation, diversities of robots are being introduced to assist patients, doctors, and trainers. In this research, a novel 7-DOF exoskeleton robot for upper limb rehabilitation is proposed. 6 DOF are actuated by micro motor which is equipped at the each DOF of the robot. Controlled method is proposed for the robot to actuate the motor to assist users in movement. Simulation and experiment are performed to evaluate the accuracy of the robot.
DOI:10.1109/RCAR.2016.7784085