ULRVT II: A Novel Upper Limb Rehabilitation Robot with Joint Synergy Control and Evaluation for Virtual Training*
Lei Yang, Fuhai Zhang, Tianyang Wu, Tongxin Jiang, Yili Fu
Abstract
Global population aging has led to a sharp increase in patients of upper limb motor dysfunction. Robot assisted virtual training, as a novel solution, can offer safe and precise assistance for upper limb rehabilitation. However, it remains a critical challenge to compensate virtual interaction force and realize joint synergy movement. In this paper, we design an upper limb rehabilitation robot for virtual training (ULRVT II) which is a cable driven exoskeleton with high compatibility controlled by a joint synergy method. Moreover, we establish a rehabilitation platform with a virtual training environment and evaluation system for experimental validation. Tests for the performance of joint synergy and virtual training are carried out to show the effectiveness of our robot.
BibTeX
@inproceedings{iros2025_ulrvtiianovelupp,
title = {ULRVT II: A Novel Upper Limb Rehabilitation Robot with Joint Synergy Control and Evaluation for Virtual Training*},
author = {Lei Yang and Fuhai Zhang and Tianyang Wu and Tongxin Jiang and Yili Fu},
booktitle = {IROS 2025},
year = {2025}
}