Design and control of a low-cost non-backdrivable end-effector upper limb rehabilitation device

• Main Authors: Fulan Li (Author), Yunfei Guo (Author), Wenda Xu (Author), Weide Zhang (Author), Fangyun Zhao (Author), Baiyu Wang (Author), Huaguang Du (Author), Chengkun Zhang (Author)
• Format: Book
• Published: Frontiers Media S.A., 2024-11-01T00:00:00Z.
• Subjects: article
• Online Access: Connect to this object online.

This paper presents GARD, an upper limb end-effector rehabilitation device developed for stroke patients. GARD offers assistance force along or towards a 2D trajectory during physical therapy sessions. GARD employs a non-backdrivable mechanism with novel motor velocity-control-based algorithms, whic...