Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 13, issue 2
Articles | Volume 13, issue 2
https://doi.org/10.5194/ms-13-949-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-13-949-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 13, issue 2
Research article
 | 
17 Nov 2022
Research article |  | 17 Nov 2022

Development of a force-field-based control strategy for an upper-limb rehabilitation robot

Jiasheng Pan, Leigang Zhang, and Qing Sun

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Short summary
Robot-assisted rehabilitation has proven to be effective for improving the motor performance of patients with neuromuscular injuries. Therefore, the main purpose of this paper is to present a new patient-cooperative control framework for an end-effector upper-limb rehabilitation robot that provides robot-assisted training for individuals with neuromuscular disorders. The feasibility of the proposed control scheme is validated via training experiments using five healthy subjects.
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