Abstract
Poststroke rehabilitation training on upper limbs is critical for stroke victims to recover and resume activities of daily living. In this process, wearable robots work as intellectual agents that enable quantitative force/motion control in multiple degrees of freedom, as well as real-time performance measurement/analysis. This chapter briefly reviews the recent progress of upper limb rehabilitation wearables in academia and industry, followed by a case study on the dual arm exoskeleton system “EXO-UL8” developed in the authors’ research laboratory. Details are provided including mechanical design, control strategies, virtual environment implementation, and related studies. The authors conclude with a discussion on the open issues and future trends in this interdisciplinary field.
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