Page 266 - Control Theory in Biomedical Engineering

exoskeletons. Remarks available Commercially shoulder for mechanism CR Strength: F/E, (Ab/Ad, Shoulder natural than ROM Lower Weakness: wrist (P/S), forearm (F/E), shoulder in ROM strain with motors DC (Method: Control: input: control; impedance torque) output: force; Yes prototypes Research level; as

rehabilitative Motion: 6 elbow Actuation: reduction gear CTC, wrist test: Motion: coupled motor Control: and biceps torque) Motion: 7 elbow with Control: input: Clinical Motion: motor (Method: input: torque)

limb Specifications DOFs: IR/ER), (F/E) wave PD, position, Clinical 1 DOF: DC shaft input: output: DOFs: IR/ER), actuators reduction control; torque) 1 DOF: Servo Control: control; output:

upper 2003)

existing of 2009b;

of version al., et Caldwell,
table available (Nef 2011) (2003) and

Summary (research al., et al. (Tsagarakis (2004) al.

1 Device/researcher commercially Armeopower) Guidali et et
Table ARMIN Kiguchi SRE Cheng