In this work, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed for rehabilitation purposes. A control architecture, which contains a high-level controller and a low-level controller, is designed for RehabRoby to complete the rehabilitation task in a desired and safe manner. A hybrid system modeling technique is used for high-level controller. An admittance control with inner robust position control loop has been used for the low-level control of RehabRoby. Real-time experiments are performed to evaluate the control architecture of the robot-assisted rehabilitation system RehabRoby.

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