Towards systematic controller design in rehabilitation robots

摘要

Robotic devices have been used in post-stroke or trauma neurorehabilitation process for years.Due to the uncertain, complex, and changing physical human-robot-interaction dynamics involved and task-specific objectives for rehabilitation, control of this type of devices remains a vast area of research.This thesis seeks systematicness in rehabilitation robot control design by developing control frameworks for upper-and low-limb rehabilitation devices that can be generally applied on multiple devices, using theoretical and experimental methodologies.