2022
DOI: 10.21203/rs.3.rs-1969417/v1
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A Methodology to Estimate Human-Robot Interaction Forces: A Case Study of a 4-DOFs Upper Extremity Rehabilitation Robot

Abstract: Due to the advantages of high durability, great repeatability and task orientation, the upper extremity rehabilitation robots have become a gospel for the rehabilitation treatment of stroke patients. The evaluation system for the comfort performance of rehabilitation robots has always been a research hotspot, and how to calculate the human-robot interaction forces is a challenge for the comfort evaluation. In this article, a four degrees of freedom (4-DOFs) upper extremity robot mechanism that is kinematically… Show more

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