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Recognizing the user motion intention plays an important role in the study of power-assist robots. An intention-guided control strategy is proposed for the upper-limb power-assist exoskeleton. A force sensor system comprised of force sensing resistors (FSRs) is designed to online estimate the motion intention of user upper limb. A new concept called “intentional reaching direction (IRD)” is proposed...
An upper limb robotic exoskeleton of three degrees of freedom (DOF) is designed for the patients who survived stroke and the elderly who have not enough strength to move their limbs freely. Particular attention is paid to the realization of a intention-driven robotic control approach, by which the robotic exoskeleton can assist the user moving his/her arm freely to where he/she intends to go. A force...
In this study, the sliding mode approach is applied to the tracking control problem of a planar arm manipulator system driven by a new type of actuator, which comprises a pneumatic muscle (PM) and a torsion spring. Unlike the traditional agonist/antagonist pneumatic muscle actuator, the PM is arranged in place of bicep and the torsion spring provides opposing torque in the presented actuator. The...
Intensive task-oriented repetitive physical therapies need be provided by individualized interaction between the patients and the rehabilitation specialists to improve hand motor performance for those survived from stroke and traumatic brain injury. The goal of this research is to develop a novel wearable device for robotic assisted hand repetitive therapy. We designed a pneumatic muscle (PM) driven...
Intensive task-oriented repetitive physical therapies provided by individualized interaction between the patient and the rehabilitation specialist can improve the hand motor performance of the patient survived from stroke or traumatic brain injury. However, the therapy is time-consuming and expensive. Furthermore, it is difficult to evaluate the result of therapy quantitatively and objectively. The...
Intensive task-oriented repetitive physical therapies provided by individualized interaction between the patient and a rehabilitation specialist can improve hand motor performance in patients survived from stroke and traumatic brain injury. However, the therapy process is long and expensive and difficult to evaluate quantitatively and objectively. The goal of this research is to develop a novel wearable...
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