A novel end-effector upper limb rehabilitation robot: Kinematics modeling based on dual quaternion and low-speed spiral motion tracking control,International Journal of Advanced Robotic Systems

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A novel end-effector upper limb rehabilitation robot: Kinematics modeling based on dual quaternion and low-speed spiral motion tracking control
International Journal of Advanced Robotic Systems ( IF 2.1 ) Pub Date : 2022-08-30 , DOI: 10.1177/17298806221118855
Liaoyuan Li _{1,

2} , Jianhai Han _{1,

2,

3} , Xiangpan Li _{1,

2} , Bingjing Guo _{1,

2} , Xinjie Wang ₄ , Ganqin Du ₅

Affiliation

For patients with upper limb dysfunction after stroke, robot-assisted rehabilitation training plays an important role in functional recovery. The existing upper limb rehabilitation robots have some...

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