Study of neuromuscular-like control in rehabilitation robot

Chi-Haur Wu*, Shih Lang Chang, D. T. Lee

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


By modeling the nonlinear damping property of the biological muscle-reflex system, a neuromuscular-like controller has been proved to be capable of reflexing to any changing displacement and enhancing the compliant forces for the changing motion. The unique capability possessed by this controller presents a prominent application for designing a mechanical orthosis in aiding the limb motion of the disabled people who have minimal or no voluntary control of limb muscle. To demonstrate the feasibility and effectiveness of the concept, the elbow and shoulder joints of a PUMA 560 robot were implemented with the neuromuscular-like control to emulate the limb motion.

Original languageEnglish (US)
Pages (from-to)1178-1183
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1996

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering


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