Control configuration for upper limb rehabilitation robotic systems

It is important to design control configuration for medical robots to allow high fidelity human robot interactions. This paper considers the control configuration for upper limb rehabilitation robotic systems. The considered 11-DOF exoskeleton-type robot enables an grasping motion, an elbow actuation, three wrist actuations, three gleno-humeral joint actuations and another three axis linear actuations corresponds to shoulder joint center movements. The overall control configuration guarantees high-speed control bandwidth of 2 kHz which is enough to algorithm implementations. A position/admittance controllers as well as gravity compensator are developed for each joints to provide high quality therapeutic procedures.