A Configuration-Space Approach to Controlling a Rehabilitation Arm Exoskeleton

A modular approach is proposed for controlling a robotic arm exoskeleton used for shoulder rehabilitation. The joints are partitioned into anthropomorphic sets based on the exercise protocol which are then commanded using separate control modules. The controllers run concurrently and can operate in either impedance or admittance mode. The approach is applied to the MGA exoskeleton, and some preliminary experimental results are given for both iso-lateral and functional training exercises.