The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Stroke is one of the main cause of upper limb dysfunction. The number of individuals who lost upper limb function due to stroke is increasing day by day and is projected to continue increasing at an alarming rate in United States. Repetitive movement therapy has been the main method to regain lost mobility. We have designed 3 degrees of freedom (DOF) wearable robotic assistive device to provide passive rehabilitation for shoulder (abduction-adduction and vertical flexion-extension) and elbow (flexion-extension) to those patients. A nonlinear computed torque control technique is used for dynamic simulation of the robot. Simulated results show that the controller can effectively maneuver the robot to follow the reference trajectories (passive rehabilitation exercises). To simulate the spasticity and to check the robustness of the controller disturbances were added in each joints and tracking performance of the controller was further evaluated. Excellent tracking performance of the controller was observed in this case as well with error in tracking less than 0.05°.