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In this paper the trajectory tracking control of the arm rehabilitation robot for stroke patients is investigated by an interactive robust control approach. The functions of patients' voluntary joint torques are designed depending on the motion ability of their arms, and the dynamic model of the human-robot system is presented. Based on the dynamic model, an interactive controller is designed to provide...
This paper presents ABLE, an innovative exoskeleton for the upper limb currently under development at CEA-LIST Interactive Robotics Unit. Its distinctive high performance mechanical transmissions - screw and cable patented arrangement - and its integrated architecture makes it the very first of its category. The first 4 axis model is described here but more complete models are already planned: a 7...
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