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dc.contributor.authorSong, Kai-Taien_US
dc.contributor.authorChai, Yea-Yenen_US
dc.date.accessioned2015-07-21T08:31:18Z-
dc.date.available2015-07-21T08:31:18Z-
dc.date.issued2013-01-01en_US
dc.identifier.isbn978-1-4799-2384-7; 978-1-4799-2383-0en_US
dc.identifier.issnen_US
dc.identifier.urihttp://hdl.handle.net/11536/125028-
dc.description.abstractThe rehabilitation quality of stroke patients has drawn much attention in recent years. Researchers have developed various kinds of devices for lower and upper limb rehabilitation functions. In this paper, we present a 3 degreesof- freedom (3-DOF) wearable robotic fingers for rehabilitation of task-oriented training in grasping tasks. A control strategy is proposed for grasping task training by considering user comfort based-on his/her intention as well as safety in task training procedures. The control strategy is divided into two parts: user compliance control and grasping compliance control. In user compliance control, we employed a mass-spring-damper model for grasping operation when the user exerts an intention force. This strategy allows the user to feel a comfortable guidance of the finger movement. In grasping compliance control, a similar model is used when the finger exoskeleton comes into contact with the object, that the system will become aware of the situation immediately and assist an appropriate grasping force for stable grasping. Experimental verification shows that the developed wearable rehabilitation robotic fingers can provide a comfortable fit for the testers and is capable to assist the testers to achieve grasping task training.en_US
dc.language.isoen_USen_US
dc.titleCompliance Control of Wearable Robotic Fingers for Rehabilitation Applicationsen_US
dc.typeProceedings Paperen_US
dc.identifier.journal2013 CACS INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS)en_US
dc.citation.spage306en_US
dc.citation.epage311en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000349259200053en_US
dc.citation.woscount0en_US
Appears in Collections:Conferences Paper