Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31743
Modeling and Control of a 4DoF Robotic Assistive Device for Hand Rehabilitation

Authors: Christopher Spiewak, M. R. Islam, Mohammad Arifur Rahaman, Mohammad H. Rahman, Roger Smith, Maarouf Saad


For those who have lost the ability to move their hand, going through repetitious motions with the assistance of a therapist is the main method of recovery. We have been developed a robotic assistive device to rehabilitate the hand motions in place of the traditional therapy. The developed assistive device (RAD-HR) is comprised of four degrees of freedom enabling basic movements, hand function, and assists in supporting the hand during rehabilitation. We used a nonlinear computed torque control technique to control the RAD-HR. The accuracy of the controller was evaluated in simulations (MATLAB/Simulink environment). To see the robustness of the controller external disturbance as modelling uncertainty (±10% of joint torques) were added in each joints.

Keywords: Biorobotics, rehabilitation, nonlinear control, robotic assistive device, exoskeleton.

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1289


[1] D. Mozaffarian, E. J. Benjamin, A. S. Go, D. K. Arnett, M. J. Blaha, M. Cushman, S. R. Das, S. de Ferranti, J. P. Després, H. J. Fullerton, and V. J. Howard, “Heart Disease and Stroke Statistics—2016 Update A Report from the American Heart Association,” Circulation, CIR-0000000000000350, 2015.
[2] “Paralysis,”, 2014. (Online). Available at: (Accessed: 06-Mar-2016).
[3] S. Masiero, A. Celia, G. Rosati, and M. Armani, “Robotic-assisted rehabilitation of the upper limb after acute stroke,” Archives of physical medicine and rehabilitation, vol. 88, no. 2, pp. 142-9, 2007.
[4] P. S. Lum, C.G. Burgar, P. C. Shor, M. Majmundar, and M. Van der Loos, "Robot-Assisted Movement Training Compared with Conventional Therapy Techniques for the Rehabilitation of Upper-Limb Motor Function After Stroke," Archives of Physical Medicine and Rehabilitation, vol. 83, no. 7, pp. 952-959, 2002.
[5] G. R. Romer, H. J. Stuyt, and A. Peters, "Cost-savings and economic benefits due to the assistive robotic manipulator (ARM)," in 9th International Conference on Rehabilitation Robotics, ICORR, 2005, pp. 201-204.
[6] A.D. Winter, Biomechanics and Motor Control of Human Movements, 2nd ed., University of Waterloo Press, Canada, 1992.
[7] J. J. Craig, Introduction to Robotics Mechanics and Control, 3rd ed.: Pearson Prentice Hall, 2004.
[8] N. P. Hamilton, Kinesiology: Scientific basis of human motion. Brown & Benchmark, 2011.
[9] D. J. Magee, J. E. Zachazewski, and W. S. Quillen, Pathology and intervention in musculoskeletal rehabilitation. Elsevier Health Sciences, 2008.
[10] M H. Rahman, M. Saad., J-P Kenné, and P. S. Archambault (2013). "Control of an Exoskeleton Robot Arm with Sliding Mode Exponential Reaching Law." International Journal of Control, Automation, and Systems ,201, vol. 11 no 1: pp 92-104.
[11] Chen M, SK Ho, HF Zhou, PMK Pang, XL Hu, Ng DTW, Tong KY:Interactive rehabilitation robot for hand function training. In Proc. IEEE International Conference on Rehabilitation Robotics ICORR.Kyoto, Japan; 2009:777–780.
[12] M. H. Rahman, M. J. Rahman, O. L. Cristobal, M. Saad, J. P. Kenné and P. S. Archambault " Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements." Robotica CJO 2014, doi:10.1017/S0263574714000034.