SCIENCE CHINA Information Sciences, Volume 60 , Issue 7 : 073201(2017) https://doi.org/10.1007/s11432-017-9076-9

## Robot assisted rehabilitation of the arm after stroke: prototype design and clinical evaluation

• AcceptedApr 22, 2017
• PublishedJun 12, 2017
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### Abstract

• Figure 1

(Color online) Training scenario using CASIA-ARM, where the patient is directed to catch the moving objects in the virtual environment with the robot's assistance.

• Figure 2

(Color online) Demonstration of the human-robot system, where $M_1$ and $M_2$ are the robot's joint motors, and $S$ and $E$ denote the patient's shoulder and elbow joints, respectively.

• Figure 3

(Color online) Reflected force at the end-effector over the workspace, where the force feedback capabilities at 20 positions over the workspace are depicted by parallelograms.

• Figure 4

(Color online) Structure of the low level controller of CASIA-ARM, where the joint torques are regulated through inner motor current control loop, $K_t$ represents the motor torque constant, $q=(\theta_1, \theta_2)$ is the joint space variable, and $I_{m1}$ and $I_{m2}$ represent the motor currents.

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