Chunqi Ju

Southeast University

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Zhiquan Chen

Southeast University

Xingsong Wang

Southeast University

Jiyuan Wu

Southeast University

Fang Jia

Southeast University

Mengqian Tian

Southeast University

Hao Qin

Guangdong Institute of Intelligent Manufacturing

Bin Liu

Central South University

Mengqian Tian

Southeast University

Jie Wang

Southeast University

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Southeast University

Shenzhen University

Luoyang Institute of Science and Technology

China North Industries Group Corporation (China)

Beijing General Research Institute of Mining and Metallurgy

Beijing University of Chemical Technology

Tongji University

Beihang University

Harbin Institute of Technology

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Design and Control of a Cable-Driven Upper Limb Exoskeleton Robot for Rehabilitation

2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) (2023)

Chunqi Ju Zhiquan Chen Hao Qin Xingsong Wang Mengqian Tian

Stroke is a significant disease that poses a serious threat to health. Rehabilitation robots can assist stroke patients in completing rehabilitative movements, promoting their recovery while alleviating the workload of healthcare professionals. We design a cable-driven upper limb rehabilitation exoskeleton that separates the driving mechanism from the execution mechanism. This innovation significantly reduces the exoskeleton's weight and improves the wearing experience. We then compute the kinematics of the cable-driven system and develop a posture-based position control strategy. We construct prototypes of the exoskeleton's mechanical structure and control system, followed by conducting wearing and movement experiments. The results of the experiments indicate that the exoskeleton provides a favorable wearing experience and achieves a posture control accuracy of within 4 degrees.

10.1109/m2vip58386.2023.10413414

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Kinematic and Dynamic Analysis of the Cable Actuation in an Upper-Extremity Exoskeleton

2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP) (2024)

Zhiquan Chen Chunqi Ju Jiyuan Wu Mengqian Tian Fang Jia

10.1109/m2vip62491.2024.10746195

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Design and Control of a Cable-Driven Exoskeleton System for Upper-Extremity Rehabilitation

IEEE Access (2024)

Zhiquan Chen Jiyuan Wu Chunqi Ju Xingsong Wang Mengqian Tian

10.1109/access.2024.3515141

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