In this paper, the issue of fixed-time tracking control for the uncertain wearable exoskeleton
with prescribed performance is addressed. To heighten the transient and steady-state …

Traditional end-effector robots for arm rehabilitation are usually attached at the hand,
primarily focusing on coordinated multi-joint training. Therapy at an individual joint level of …

In this paper, a novel adaptive hybrid-mode assist-as-needed (AHMAAN) control algorithm
is designed for the exoskeleton-assisted upper limb rehabilitation training. The overall …

In this work, we propose a method for trajectory implementation based on the Learning by
Demonstrations approach to deal with trajectory planning issues in upper-limb rehabilitation …

One of the urgent issues with wearable exoskeletons is their difficulty in following human fast
movements, especially nonperiodic arm movements. Wearing an exoskeleton can make …

This paper proposes a variable integral adaptive backstepping controller (VIABC) and a
hysteresis admittance model for compliant control of single joint exoskeletons widely used in …

Algorithms used for controlling upper limb rehabilitation exoskeletons need to promote
active participation of patients in the training while preventing incorrect hand motion and arm …

In this work, we propose a framework enabling upper-limb rehabilitation exoskeletons to
mimic the personalised haptic guidance of therapists. Current exoskeletons face …

The emergence of sheet-type force distribution sensors has allowed direct measurement of
contact force. We developed a wearable assistive robot that can directly measure contact …

Stroke rehabilitation with the assistance of exoskeleton robots has the potential to facilitate
the recovery of motor skills by guiding, supporting, and encouraging movement in the …