Many robotic devices have been developed for stroke patients to recover their upper limb motor function. Among them, master-slave type rehabilitation systems provide surveillance of the therapist to the patient who is performing home-rehabilitation. In this study, we proposed a wearable and light exoskeleton device for upper limb rehabilitation and designed a master-slave rehabili-tation system using the exoskeleton device as slave device and a haptic device (Phantom Premium) as master device. To convey therapist’s experience to patients using this system, the slave device is driven to track the motion of the master device manipulated by the therapist. In order to improve the tracking efficacy of traditional PI control, a self-tuning fuzzy PI control was proposed. Results of simulation indicated the proposed control method is more effective than the traditional PI control, particularly in tracking accuracy and response speed.

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