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Frozen shoulder is a functional disorder related to shoulder muscles. Among many treatment strategies, rehabilitation exercise is one of the most common and viable therapy. In this research, a new 8 degrees of freedom (DOFs) rehabilitation robot arm named NTUH-II has been developed. The robot arm is able to provide most of upper limb rehabilitation motions in passive, active, and assistive modes....
The objective of this study is to design a robot system to assist the rehabilitation of patients so that they can afterwards do various daily activities. It is difficult to determine the desirable posture of a 9-DOFs exoskeleton manipulator in such a system and each joint control design as well. In this paper, we resolve the difficulties by mapping the kinematics of a human arm to that of the manipulator...
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