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Abstract
A fuzzy coordination scheme for two neuro-fuzzy position controlled manipulators performing upper-limb rehabilitation is developed by maintaining certain kinematic relationship between robot manipulator's end-effectors. The basic idea of the new coordination strategy is to benefit from the use of the motion synchronization concept within acceptable tolerance for the vector connecting the two manipulator's end-effectors. In this scheme, each manipulator tracks its desired trajectory using its neurofuzzy Cartesian controller while synchronizing its motion with the other manipulator so that the position error computed for the vector connecting the two manipulator's end-effectors is reduced to zero or kept within acceptable tolerance.
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