Ju-Hwan Bae, Inhyuk Moon
wrist rehabilitation, active exercise, power assist, forcecontrol
In this paper a wearable exercise robot with power assist function for wrist rehabilitation is proposed. A force model for the wrist mechanism is presented, and its control system for active exercise and power assist function is designed based on the force model. In experiments the performances of active exercise and power assist function are verified. From the experimental results we show a possibility of the wearable exoskeleton robot in wrist rehabilitation and wrist motion.
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