This paper presents an assistive control system with a special kinematic structure of an upper limb rehabilitation robot embedded with force/torque sensors. A dynamic human model integrated with sensing torque is used to simulate human interaction under three rehabilitation modes: active mode, assistive mode, and passive mode. The hereby proposed rehabilitation robot, called NTUH-ARM, provides 7 degree-of- freedom (DOF) motion and runs subject to an inherent mapping between the 7 DOFs of the robot arm and the 4 DOFs of the human arm. The Lyapunov theory is used to analyze the stability of the proposed controller design. Clinical trials have been conducted with six patients, one of which acts as a control. The results of these experiments are positive and STREAM assessment by physical therapists also reveals promising results.

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In this paper, the problem of navigating a mobile robot around baniers in an-unexplored terrain is studied All the obstacles within the terrain are not limited to be of polygonal shapes nor to be convex. A model map is used to memorize the configuration of the environment observed so far and is updated while the robot is being navigated. With "safety" as a more important factor to the solution of the problem, an algorithm which tends to find a "center-line path" among obstacles is proposed. The case where the sensor has only limited effective range is also considered. Detailed proof is provided to assure the collision-free and goalconvergent properties of the algorithm.

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