Abstract
In this paper, a new master-slave system for upper limb rehabilitation is proposed. Haptic device (PHANTOM Omni) is used as master robot and the slave robot has been designed to be portable and wearable. It is potential to be used in passive and active training which are prevailing approaches in upper limb rehabilitation and it is also suitable in home-rehabilitation through therapist's teleoperation. We describe the mechanical design of elbow joint module, force model and some preliminary results of passive experiment.
