Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 14, issue 2
Articles | Volume 14, issue 2
https://doi.org/10.5194/ms-14-503-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-503-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 14, issue 2
Research article
 | 
21 Nov 2023
Research article |  | 21 Nov 2023

Assistance control strategy for upper-limb rehabilitation robot based on motion trend

Haojun Zhang, Tao Song, and Leigang Zhang

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Short summary
To enable the control system to provide minimal assistance and apply different rehabilitation stages according to the subject's performance, this paper proposes a motion-trend-based assistance control strategy. The preliminary experimental results demonstrate that the proposed control strategy works well to quickly adjust the assistance to the subject's motor performance and quickly reduce the assistance when the subject tends to actively participate in the exercise.
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