IROS 2015 Paper Abstract


Paper ThDT6.5

Peng, Liang (Institute of Automation, Chinese Academy of Sciences), Hou, Zeng-Guang (Institute of Automation, Chinese Academy of Science), Peng, Long (Institute of Automation, Chinese Academy of Sciences), Wang, Weiqun (Institute of Automation, Chinese Academy of Sciences)

Design of CASIA-ARM: A Novel Rehabilitation Robot for Upper Limbs

Scheduled for presentation during the Regular session "Rehabilitation Robotics 2" (ThDT6), Thursday, October 1, 2015, 15:00−15:15, Saal 7

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Rehabilitation Robotics, Medical Robots and Systems, Human-Robot Interaction


The population of disabled stroke survivors is increasing sharply over the world, and robot-assisted training has been proved to be effective to help motor relearning and alleviate the shortage of physical therapists. This paper presents the design details of a novel upper limb rehabilitation robot named CASIA-ARM, which can assist poststroke patients to perform shoulder and elbow rehabilitation training in the horizontal plane, and provide both force and visual feedback to the patient: 1) A five-bar closed-chain structure is designed to realize a stiff and low-inertial mechanism. Workspace and singularity analysis is given, which guarantees that the workspace is large enough for upper limb moving and no singularity in the workspace. 2) Cable transmission, motor current controller and impedance control method guarantee the transparent and compliant interaction between the human and the robot. 3) Implementation examples of passive training based on position control and active training based on impedance control are presented in detail. 4) In order to evaluate the robot's applicability and performance, examples of trajectory tracking and active reaching tasks are used in this study, and the preliminary test results are also given (tracking error: 0.860.42 mm, force control error: 1.410.79 N in the X direction, and 1.220.91 N in the Y direction).



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