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The objective of this study is to design a robot system to assist the rehabilitation of patients so that they can afterwards do various daily activities. It is difficult to determine the desirable posture of a 9-DOFs exoskeleton manipulator in such a system and each joint control design as well. In this paper, we resolve the difficulties by mapping the(More)
Broadcast in radio-based wireless networks has been a difficult problem. When a node broadcasts, all nodes within its radio coverage will attempt to relay the message by rebroadcasting, causing excessive radio communication in the region that leads to the broadcast storm problem. Most previous solutions assumed a perfect radio condition with a static,(More)
This paper presents an assistive control system with a special kinematic structure of an upper limb rehabilitation robot embedded with force/torque sensors. A dynamic human model integrated with sensing torque is used to simulate human interaction under three rehabilitation modes: active mode, assistive mode, and passive mode. The hereby proposed(More)