A methodology to quantify human-robot interaction forces: a case study of a 4-DOFs upper extremity rehabilitation robot

Abstract Upper extremity rehabilitation robots have become crucial in stroke rehabilitation due to their high durability, repeatability, and task-specific capabilities. A significant challenge in assessing the comfort performance of these robots is accurately calculating the human-robot interaction forces. In this study, a four-degree-of-freedom (4-DOF) upper extremity rehabilitation robot mechanism, kinematically compatible with the human upper limb, is proposed. Based on this mechanism, an algorithm for estimating human-robot interaction forces is developed using Newton-Euler dynamics. A prototype of the proposed robot is constructed, and a series of comparative experiments are carried out to validate the feasibility of the proposed force estimation approach. The results indicate that the proposed method reliably predicts interaction forces with minimal deviation from experimental data, demonstrating its potential for application in upper limb rehabilitation robots. This work provides a foundation for future studies focused on comfort evaluation and optimization of rehabilitation robots, with significant practical implications for improving patient rehabilitation outcomes.