Uğurlu, Regaip BarkanNishimura, M.Hyodo, K.Kawanishi, M.Narikiyo, T.2015-12-152015-12-152015-022168-2291https://doi.org/10.1109/THMS.2014.2362816http://hdl.handle.net/10679/1307This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG and force sensors, we exploit off-the-shelf compensation techniques developed for robot manipulators. Thus, target rehabilitation tasks are addressed by using only encoder readings. A proof-of-concept evaluation was conducted with live able-bodied participants. The patient-active rehabilitation task was realized via observer-based user torque estimation, in which resistive forces were adjusted using virtual impedance. In the patient-passive rehabilitation task, the proposed controller enabled precise joint tracking with a maximum positioning error of 0.25°. In the power assistance task, the users' muscular activities were reduced up to 85% while exercising with a 5 kg dumbbell. Therefore, the exoskeleton system was regarded as being useful for the target tasks, indicating that it has a potential to promote robot-aided therapy protocols.engopenAccessarticle45111011800034807280001010.1109/THMS.2014.2362816Disturbance observer (DOB)ExoskeletonPower assistanceRobot-aided rehabilitationUser torque estimation2-s2.0-84921351558