An Orthopaedic Robotic-Assisted Rehabilitation Method of the Forearm in Virtual Reality Physiotherapy

Figure 3

Control architecture for the task simulation through the patient’s movements. G(q) is the gravity model to compute the gravity compensation torque; FK is the direct kinematics block; IK_arm is the inverse kinematics algorithm of the patient arm. τ and τ_g are the torque supplied by the motors given the control position and gravity compensation, respectively.