Controlled Operation of Table ASSIST-EW Motion Assisting Device

Abstract

Table ASSIST-EW is a lightweight, portable, and ergonomic exoskeletal device that is designed to support upper limb rehabilitation and to facilitate regular exercise in elderly users. Targeting the elbow and wrist joints, the device delivers smooth controlled assistance through a cable-driven actuation system that mimics natural muscle–tendon action. The system works with a scalable modular control architecture that enables the regulation of joint motion across a range of user needs and therapeutic contexts. The control design integrates force and motion feedback to implement assist-as-needed strategies, ensuring both safety and adaptability. Built on a bioinspired mechanical framework with revolute joint alignment and a soft inner interface for enhanced comfort, the device accommodates varied arm geometries and motion patterns. Simulation of key parameters—torque, stress, and energy demands—informed component selection and controller tuning. Experimental validation results confirm consistent performance across passive, active–assistive, and resistive control modes.