Arm exoskeleton rehabilitation robot with assistive system for patient after stroke

Exercise dosage is proven to be an important factor in the physical treatment. Robot assistive approach can improve the rehabilitation quality and evaluate patient's recovery quantitatively. This paper presents kinematic structure, assistive control system, and integrated F/T sensor for an upper limb rehabilitation robot. By using the human arm dynamic, there are three rehabilitation modes presented in this paper: active mode, assistive mode, and passive mode. In assistive mode, we have two strategies to implement it. One is to amplify interactive torque, and the other is to apply assist-as-needed concept. The goal of this mode is to assist patients to finish motion tasks. The rehabilitation robot under investigation has 7 degree of freedom (DOF) actuated by DC motors, which are programmed to drive the robot arm in the 3D space. To validate our control design, some realistic experiments are conducted and its satisfactory performance is demonstrated. This work is approved clinical testing by the Department of Health, Executive Yuan, R.O.C. So far, we are demonstrating the effect of our controller.