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

• Автори: Fulan Li (Автор), Yunfei Guo (Автор), Wenda Xu (Автор), Weide Zhang (Автор), Fangyun Zhao (Автор), Baiyu Wang (Автор), Huaguang Du (Автор), Chengkun Zhang (Автор)
• Формат: Книга
• Опубліковано: Frontiers Media S.A., 2024-11-01T00:00:00Z.
• Предмети: article
• Онлайн доступ: 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...