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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...
This paper presents an approach to enhance an assistive controller, which has been designed for robotic rehabilitation of the upper extremity after stroke, with an error augmentation training method. The assistive controller provides robotic assistance to the participant as and when needed, while position errors that are visually fed back to the participant are amplified to heighten the participant's...
This paper is devoted to design a robot control system for assisting in the rehabilitation of patients who suffer from debilitating illness such as stroke. The rehabilitation robot discussed in this subject is able to guide patient's wrist to move along planned trajectory in both horizontal and vertical plane, and train the elbow joint as well as shoulder joint. Increasingly the robot requires interacting...
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