Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Note: The Exoskeleton Robot project was done during 2011 - 2013 when Madi was a master's student. Inverse Dynamics Controller Abstract Cerebrovascular accident (CVA) or stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of a stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged in recent years. Robot-aided arm therapy is more intensive, of longer duration, and more repetitive. By using robots repetitive dull exercises can turn into more challenging and motivating tasks…
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Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

Note: The Lyapunov-based control of the Rehabilitation Robot project was done during 2011 - 2013 when Madi was a Master's student. 3-DOF Shoulder Rehabilitation Robot Stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of a stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged recently. The control schemes of rehabilitation robots are designed for two reasons. First, they are designed for passive rehabilitation in which the robot guides the patient's limb through a…
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