Passive velocity field control of a forearm-wrist rehabilitation robot.

This paper presents design, implementation and control of a 3RPS-R exoskeleton, specifically built to impose targeted therapeutic exercises to forearm and wrist. Design of the exoskeleton features enhanced ergonomy, enlarged workspace and optimized device performance when compared to previous versions of the device. Passive velocity field control (PVFC) is implemented at the task space of the manipulator to provide assistance to the patients, such that the exoskeleton follows a desired velocity field asymptotically while maintaining passivity with respect to external applied torque inputs.