This paper presents the development of an upper limb end-effector based rehabilitation device for stroke patients, offering assistance or resistance along any 2-dimensional trajectory during physical therapy. It employs a non-backdrivable ball-screw-driven mechanism for enhanced control accuracy. The control system features three novel algorithms: First, the Implicit Euler velocity control algorithm (IEVC) highlighted for its state-of-the-art accuracy, stability, efficiency and generalizability in motion restriction control. Second, an Admittance Virtual Dynamics simulation algorithm that achieves a smooth and natural human interaction with the non-backdrivable end-effector. Third, a generalized impedance force calculation algorithm allowing efficient impedance control on any trajectory or area boundary. Experimental validation demonstrated the system's effectiveness in accurate end-effector position control across various trajectories and configurations. The proposed upper limb end-effector-based rehabilitation device, with its high performance and adaptability, holds significant promise for extensive clinical application, potentially improving rehabilitation outcomes for stroke patients.

翻译：本文介绍了一种针对脑卒中患者的上肢末端执行器康复设备的开发，该设备可在物理治疗过程中沿任意二维轨迹提供助力或阻力。它采用非反向驱动的滚珠丝杠传动机构以提高控制精度。控制系统包含三种新颖算法：首先，隐式欧拉速度控制算法（IEVC）在运动限制控制中展现出最先进的精度、稳定性、效率与泛化能力。其次，导纳虚拟动力学仿真算法实现了与不可反向驱动的末端执行器之间平滑自然的人机交互。第三，广义阻抗力计算算法可在任意轨迹或区域边界上实现高效的阻抗控制。实验验证表明，该系统在各种轨迹与配置下均能有效实现精确的末端执行器位置控制。所提出的基于末端执行器的上肢康复设备凭借其高性能与强适应性，在临床广泛应用中具有重要前景，有望改善脑卒中患者的康复效果。