Design and control of an active knee rehabilitation orthotic system called ANdROS that was designed as a wearable and portable gait rehabilitation tool is presented. A corrective force field that reinforces a desired gait pattern is applied to the patient's impaired leg around the knee joint via an impedance controlled exoskeleton. The impedance controller is synchronized with the patient's walking phase which is estimated from the kinematic measurements of the healthy leg. The performance of the controller is evaluated through bench-testing.

A newly developed hand rehabilitation system is presented that combines robotics and interactive gaming to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two novel Electro-Rheological Fluid based hydraulic actuators. Tests were conducted to characterize these actuators, and feed-forward controllers were developed for their force/torque control. A virtual reality environment (maze game) was developed in which the robot applies force fields to the user as the user navigates the environment, forming a haptic interface between the patient and the game.