Flexion-extension motion assistance using an upper limb motion-assist robot based on trajectory estimation of reaching movement

People of all ages have suffered impairment in traffic accidents or sport accidents, and these individuals worry about dysfunction of their upper limbs, but they can recover from dysfunction by rehabilitation. In this study, we developed an assistive robot for upper limb movement that has high rehabilitation effectiveness. To achieve this, we proposed a reaching movement support method that considers an expanding joint's range of motion. The effectiveness of our method is shown through experiments.