Controlled assistance by an exoskeletal rehabilitation robot for upper limbs

A novel 5 DOF exoskeletal upper-limb rehabilitation robot was implemented for hemiplegia caused by a stroke. To inspire alertness during active exercise and to promote rehabilitation of an impaired arm, a control method was developed for assisted action during complex motion of upper limbs. Torque signals for each joint were acquired in real time to estimate the magnitude and the orientation of action caused by conscious movement. To follow the intention of hemiplegic patient's movement, a proportional controller was used to control terminal velocity to match motion. Experimental results show that the method presented effectively assists patients' complex arm movements in real time.