Admittance Filter Parameter Adjustment of a Robot-Assisted Rehabilitation System (RehabRoby)

The goal of this study is to develop an adaptive adjustment system for robot-assisted rehabilitation system (RehabRoby) so that subjects can control the robot in an easy manner to complete a given rehabilitation task. A system that determines the proper admittance parameters for each subject has been integrated into RehabRoby. A survey is used to verify that executing the rehabilitation tasks under proper admittance parameters reduces the stress level of subjects, improves the controllability of the robot, and improves engagement of the subjects.