Supervisory controller design for a robot-assisted reach-to-grasp rehabilitation task

The goal of this project is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device in reach-to-grasp task. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite automaton. Extensive simulations are performed using the supervisory controller for a reach-to-grasp rehabilitation task. The results demonstrate the feasibility and convenience of the proposed supervisory controller.