Parnian Khanzadeh - Department of Electrical Engineering Shariaty Technical College Tehran, Iran
F Koochaki - Department of Electrical Engineering Amirkabir University of Technology Tehran, Iran
M.A Soleimani - Department of Electrical Engineering Amirkabir University of Technology Tehran, Iran

Rehabilitation demands are more expressed as population grows older, so new approaches are required to make rehabilitation services more inexpensive and available. Besides, robotics can develop many of these important indices. In this paper, a particular configuration of tele-rehabilitation system is presented and its stability is proved. Two common motor-impairments, arm paresis in the middle of therapy and rough movements, are considered here. For each mentioned problem a control scheme is proposed and their efficiency are investigated. Sensible assumptions are employed in proof procedure by Lyapunov functions. Finally, the simulation results verified the validity of proposed scheme.

rehabilitation; position tracking; virtual fixtures; input to state stable;