Purpose – The purpose of this paper is to present the control methods of the exoskeleton robotic arm for stroke rehabilitation. Design/methodology/approach – The robotic arm is driven by the pneumatic muscle actuators. The control system provides independent control for the robot. The joint...

Purpose – The purpose of this paper is to present the static and dynamic characteristics of the rehabilitation joint. Design/methodology/approach – The rehabilitation joint is driven by pneumatic muscle actuators (PMAs). Rehabilitation robot is normally composed of several rehabilitation...