CableDriven 4DOF Upper Limb Rehabilitation Robot This paper developed a 4degreeoffreedom cabledriven upper limb rehabilitation robot and proposed a control algorithm of the passive training for this robot. Comparing with the conventional cabledriven rehabilitation robot, the workspace of this robot is increased by optimizing the distribution of the cable attachment points and by improving the mechanical design. The rotation structure of the upper arm module can change the distribution of the attachment points as needed, by which the cable tension planner can be satisfied in almost all cases. At the meantime, the internalexternal rotation of shoulder joint can be achieved without the change of the cables configuration, which is also important for increasing the workspace and comfortability of utilization. The activities of daily living (ADLs) training can be achieved well without any manual adjustment. The related controller for passive training is designed, which includes a higher controller for trajectory tracking and a lower controller for keeping cable tension as the output of the tension planner in realtime. The passive training experiments are conducted on five healthy subjects of different body size. The results demonstrated that the passive training can be achieved well on different subjects and the cable tension controller is also working effectively.

Coupling Disturbance Compensated MIMO Control of Parallel Ankle Rehabilitation Robot Actuated by Pneumatic Muscles To solve the poor compliance and safety problems in current rehabilitation robots, a novel twodegreesoffreedom (2DOF) soft ankle rehabilitation robot driven by pneumatic muscles (PMs) is presented, taking advantages of the PMxe2x80x99s inherent compliance and the parallel structurexe2x80x99s high stiffness and payload capacity. However, the PMxe2x80x99s nonlinear, timevarying and hysteresis characteristics, and the coupling interference from parallel structure, as well as the unpredicted disturbance caused by arbitrary human behavior all raise difficulties in achieving highprecision control of the robot. In this paper, a multiinputmultioutput disturbance compensated sliding mode controller (MIMODCSMC) is proposed to tackle these problems. The proposed control method can tackle the unmodeled uncertainties and the coupling interference existed in multiple PMsxe2x80x99 synchronous movement, even with the subjectxe2x80x99s participation. Experiment results on a healthy subject confirmed that the PMsactuated ankle rehabilitation robot controlled by the proposed MIMODCSMC is able to assist patients to perform highaccuracy rehabilitation tasks by tracking the desired trajectory in a compliant manner.