Design and control of a low-cost non-backdrivable end-effector upper limb rehabilitation device

Design and control of a low-cost non-backdrivable end-effector upper limb rehabilitation device

This paper presents GARD, an upper limb end-effector rehabilitation device developed for stroke patients. GARD offers assistance force along or towards a 2D trajectory during physical therapy sessions. GARD employs a non-backdrivable mechanism with novel motor velocity-control-based algorithms, whic...

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Bibliographic Details
Main Authors: Fulan Li, Yunfei Guo, Wenda Xu, Weide Zhang, Fangyun Zhao, Baiyu Wang, Huaguang Du, Chengkun Zhang
Format: Article
Language:English
Published: Frontiers Media S.A. 2024-11-01
Series:Frontiers in Rehabilitation Sciences
Subjects:
upper limb rehabilitation
end-effector rehabilitation robot
Assist-As-Needed
motion planning
non-backdrivable
Online Access:https://www.frontiersin.org/articles/10.3389/fresc.2024.1469491/full
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