People with hemiplegia require ongoing rehabilitation exercises to regain function in their upper limbs. However, due to the increasing number of elderly and disabled people, the number of rehabilitation professionals is insufficient. As a solution to this problem, researchers have been exploring various upper limb rehabilitation exercise robots. Unfortunately, these robots are often large and heavy, making them cumbersome to wear and use. The proposed exoskeleton rehabilitation robot consists of two robotic modules: an elbow module (1 DOF) and a wrist module (1 DOF). In order to analyze the robot"s workspace, the kinematics were calculated using the D-H parameters. To generate the trajectories, five able-bodied individuals wore the robot and performed the hand-wash motion, resulting in a total of 10 trajectory data sets. The reference trajectories were then generated by polynomial regression based on the collected data. Lastly, a passive mode control was experimented with in the rehabilitation process, and the results demonstrated the promising effectiveness of the proposed robot.

In the case of paralysis caused by brain diseases and accidents, proper rehabilitation and supplementary systems for daily life are essential. In this study, we designed a system that can enable daily life by supporting the hand of a patient whose function has been lost to paralysis. The hand exoskeleton robot proposed in this study can be transported for the purpose of ADL (activities of daily living). It was designed to focus on the most important assistant for the thumb and index finger. The hand exoskeleton robot proposed in this study enables grasp and pinch motor skills during the human hand operation through the specific mechanism for the segment movement of the human finger simultaneously. Finally, the finger movement trace of the wearer through the vision system is measured, respectively.

Patients with complete paralysis that only walk with the assistance of exoskeleton robots because they lost their ability to walk. However, robots do not allow the exoskeleton robot to grasp the current state before walking and change the walking pattern. A "Stability Circle Region" was proposed to determine the current state of the exoskeleton robot. The Stability Circle is an area that can determine the possibility of a fall situation before the next walk using the link parameters of the robot and the current center of gravity of the patients. This study verified the validity of "stability circle" by simulating the change in the center of mass. Simulation results can be used to determine the stability of walking depending on whether the position of the center of mass before the walking is included in the circle area.