Post-stroke robotic-assisted therapy: Time-variant damping coefficient based control algorithm for isotonic exercise through circular motion

In this study, the authors proposes a new rehabilitation program for post-stroke patients with disabled arm, robotic-assisted isotonic training, based on circular trajectory of motion. The robotic-assisted rehabilitation system is a 3D parallel robot, its design and characterization were introduced by the fourth author at Nagoya Institute of Technology. A constant resistance control algorithm has been applied to obtain the proposed isotonic multi-joint movement training. The experimental results have been analyzed and discussed.