In robot-assisted rehabilitation, the performance of robotic assistance is dependent on the human user’s dynamics, which are subject to uncertainties. In order to enhance the rehabilitation performance and in particular to provide a constant level of assistance, we separate the task space into two subspaces where a combined scheme of adaptive impedance control and trajectory learning is developed. Human movement speed can vary from person to person and it cannot be predefined for the robot. Therefore, in the direction of human movement, an ite...
