Servo-assisted Control of a 7-DOF Exoskeleton for Upper Limb Rehabilitation

Abstract

This paper reviews the research on upper limb exoskeleton for hemiplegia rehabilitation. Under the condition of rehabilitation training for mild patients in the workspace of 7-DOF exoskeleton with uncertain trajectory, a control algorithm used for motion detection is carried. In this algorithm, the patient's operation can be detected by real-time data collected by F/T (Force/Torque) sensors and encoders, so that quantitative assistance will be supplied by exoskeleton according to the patient's motion intention. Finally, the joint simulation of ADAMS and MATLAB proves the accuracy of trajectory tracking and the feasibility of the control strategy is verified by the experiment on 3-DOF translational manipulator platform.