It has been proved that continued training recovery for the patients who suffer limb movement disorder helps them in therapy protocols. However, the specialty and numbers of therapist often limit the rehabilitation to these patients. Thus, employing robotic equipment to provide the treatment capability is a way out of this dilemma. Considering the compliance and continuous deformation capacity, a robotic exoskeleton actuated by Pneumatic Arti?cial Muscles (PAMs) is designed as the rehabilitation equipment for elbow joint. Moreover, to precisely control the PAM soft actuator of the proposed equipment, a bio-inspired control approach is explored. Finally, several simulations have been conducted to verify the effectiveness of the proposed system.
