A modular approach is proposed for controlling a robotic arm exoskeleton used for shoulder rehabilitation. The joints are partitioned into anthropomorphic sets based on the exercise protocol which are then commanded using separate control modules. The controllers run concurrently and can operate in either impedance or admittance mode. The approach is applied to the MGAexoskeleton, and some preliminary experimental results are given for both iso-lateral and functional training exercises.

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Finger impairment following stroke results in significant deficit in hand manipulation and the performance of everyday tasks. Recent advances in rehabilitation robotics have shown improvement in efficacy of rehabilitation. Current devices, however, lack the capacity to accurately interface with the human finger at levels of velocity and torque comparable to the performance of everyday hand manipulation tasks. To fill this need, we have developed the Actuated Finger Exoskeleton (AFX), a three degree-of-freedom robotic exoskeleton for the index finger. This paper outlines the implementation and initial kinematic analysis of the AFX.

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This paper presents advantages of introducing elbow-joints misalignments in an exoskeleton for upper limb rehabilitation. Typicalexoskeletons are characterized by axes of the device as much as possible aligned to the rotational axes of human articulations. This approach leads to advantages in terms of movements and torques decoupling, but can lead to limitations nearby the elbow singular configuration. A proper elbow axes misalignment between the exoskeleton and the human can improve the quality of collaborative rehabilitation therapies, in which a correct torque transmission from human articulations to mechanical joints of the device is required to react to torques generated by the patient.

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This paper presents ABLE, an innovative exoskeleton for the upper limb currently under development at CEA-LIST Interactive Robotics Unit. Its distinctive high performance mechanical transmissions — screw and cable patented arrangement — and its integrated architecture makes it the very first of its category. The first 4 axis model is described here but more complete models are already planned: a 7 axis model as well as portable versions. Its back-drivable, high efficiency, low inertia actuators provide a high capacity (around 40 N continuous effort at the hand) and allow hybrid force-position control without requiring any force sensor. Its first application is currently a research program in rehabilitation (BRAHMA project) and professional use is already in view. Assistance tasks for disabled persons (carrying a bottle) are also typical tasks to be performed by ABLE as well as intuitive telerobotics, haptic device for VR, and sport training, etc. Furthermore, its versatility and simple design allow industrial versions to become soon available.

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In this paper, we proposed a novel approach to control the famous PUMA manipulator with an arm exoskeleton which has been developed to enable force-feedback teleoperation and has totally different structures and dimensions from PUMA. We presented the hardware configuration and software implementation of the whole system, and then a particular issue was associated with workspace matching, which proved to be the key step for different structure based master/slave manipulator control. Finally, the conclusion was discussed, as well as the prospect of future work.

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