This paper presents GARD, an upper limb end-effector rehabilitation device developed for stroke patients. GARD offers assistance force along or towards a 2D trajectory during physical therapy sessions. GARD employs a non-backdrivable mechanism with novel motor velocity-control-based algorithms, which offers superior control precision and stability. To our knowledge, this innovative technical route has not been previously explored in rehabilitation robotics. In alignment with the new design, GARD features two novel control algorithms: Implicit Euler Velocity Control (IEVC) algorithm and a generalized impedance control algorithm. These algorithms achieve O(n) runtime complexity for any arbitrary trajectory. The system has demonstrated a mean absolute error of 0.023mm in trajectory-following tasks and 0.14mm in trajectory-restricted free moving tasks. The proposed upper limb rehabilitation device offers all the functionalities of existing commercial devices with superior performance. Additionally, GARD provides unique functionalities such as area-restricted free moving and dynamic Motion Restriction Map interaction. This device holds strong potential for widespread clinical use, potentially improving rehabilitation outcomes for stroke patients.

翻译：本文介绍了GARD，一种专为脑卒中患者开发的上肢末端执行器式康复设备。GARD能够在物理治疗过程中沿二维轨迹或朝向二维轨迹提供辅助力。该设备采用了一种非反向驱动机制，并结合了新颖的基于电机速度控制的算法，从而实现了卓越的控制精度和稳定性。据我们所知，这种创新的技术路线在康复机器人领域尚未被探索过。与这一新设计相匹配，GARD具备两种新颖的控制算法：隐式欧拉速度控制算法和广义阻抗控制算法。这些算法对于任意轨迹均能达到O(n)的运行时复杂度。该系统在轨迹跟踪任务中表现出0.023毫米的平均绝对误差，在轨迹受限的自由运动任务中则为0.14毫米。所提出的上肢康复设备具备现有商用设备的全部功能，且性能更优。此外，GARD还提供了独特的功 能，例如区域受限的自由运动以及动态运动限制图的交互。该设备具有广泛的临床应用潜力，有望改善脑卒中患者的康复效果。