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In recent years, robot-assisted rehabilitation systems have become an active research area to quantitatively monitor and adapt to patient progress, and to ensure consistency during the rehabilitation. In this work, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed for rehabilitation purposes. An admittance control with inner robust position control loop has been used to control the robot-assisted rehabilitation system RehabRoby. Real-time experiments are performed to evaluate the efficacy of the proposed admittance control with inner robust position control loop.