The existing shortage of therapists and caregivers assisting physically disabled individuals
at home is expected to increase and become serious problem in the near future. The patient …

Since the late 1990s, there has been a burst of research on robotic devices for poststroke
rehabilitation. Robot-mediated therapy produced improvements on recovery of motor …

This paper presents an overview of admittance control as a method of physical interaction
control between machines and humans. We present an admittance controller framework and …

To get a compliant active exoskeleton controller, the force interaction controllers are mostly
used in form of either the impedance or admittance controllers. The impedance or …

This paper presents a virtual reality (VR)-enhanced new hand rehabilitation support system
that enables patients to exercise alone. This system features a multi-degrees-of-freedom …

To assist physically disabled people with impaired upper limb function, we have developed
a new 7-DOF exoskeleton-type robot named Motion Assistive Robotic-Exoskeleton for …

Upper-limb impairment after stroke is caused by weakness, loss of individual joint control,
spasticity, and abnormal synergies. Upper-limb movement frequently involves abnormal …

A robust adaptive integral terminal sliding mode control strategy is proposed in this paper to
deal with unknown but bounded dynamic uncertainties of a nonlinear system. This method is …

While conventional bilateral Single-Master/Single-Slave (SM/SS) teleoperation systems
have received considerable attention during the past several decades, multilateral …

Various rehabilitation robots have been employed to recover the motor function of stroke
patients. To improve the effect of rehabilitation, robots should promote patient participation …