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The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device targeted for home use. In particular,<jats:sc>AssistOn-Mobile<\/jats:sc>consists of a holonomic mobile platform with four actuated Mecanum wheels and a compliant, low-cost, multi-degrees-of-freedom series elastic element acting as its force sensing unit. Thanks to its series elastic actuation,<jats:sc>AssistOn-Mobile<\/jats:sc>is highly backdriveable and can provide assistance\/resistance to patients, while performing omni-directional movements on plane.<jats:sc>AssistOn-Mobile<\/jats:sc>also features Passive Velocity Field Control (PVFC) to deliver human-in-the-loop contour tracking rehabilitation exercises. PVFC allows patients to complete the contour-tracking tasks at their preferred pace, while providing the proper amount of assistance as determined by the therapists. PVFC not only minimizes the contour error but also does so by rendering the closed-loop system passive with respect to externally applied forces; hence, ensures the coupled stability of the human-robot system. We evaluate the feasibility and effectiveness of<jats:sc>AssistOn-Mobile<\/jats:sc>with PVFC for rehabilitation and present experimental data collected during human subject experiments under three case studies. In particular, we utilize<jats:sc>AssistOn-Mobile<\/jats:sc>with PVFC (a) to administer contour following tasks where the pace of the tasks is left to the control of the patients, so that the patients can assume a natural and comfortable speed for the tasks, (b) to limit compensatory movements of the patients by integrating a RGB-D sensor to the system to continually monitor the movements of the patients and to modulate the task speeds to provide online feedback to the patients, and (c) to integrate a Brain\u2013Computer Interface such that the brain activity of the patients is mapped to the robot speed along the contour following tasks, rendering an assist-as-needed protocol for the patients with severe disabilities. The feasibility studies indicate that<jats:sc>AssistOn-Mobile<\/jats:sc>holds promise in improving the accuracy and effectiveness of repetitive movement therapies, while also providing quantitative measures of patient progress.<\/jats:p>","DOI":"10.1017\/s0263574714002367","type":"journal-article","created":{"date-parts":[[2014,9,16]],"date-time":"2014-09-16T14:18:10Z","timestamp":1410877090000},"page":"1433-1459","source":"Crossref","is-referenced-by-count":14,"title":["<scp>AssistOn-Mobile<\/scp>: a series elastic holonomic mobile platform for upper extremity rehabilitation"],"prefix":"10.1017","volume":"32","author":[{"given":"Mine","family":"Sarac","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mehmet Alper","family":"Ergin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ahmetcan","family":"Erdogan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Volkan","family":"Patoglu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,9,16]]},"reference":[{"key":"S0263574714002367_ref57","doi-asserted-by":"publisher","DOI":"10.1108\/01439910210425522"},{"key":"S0263574714002367_ref52","doi-asserted-by":"publisher","DOI":"10.1109\/9.948463"},{"key":"S0263574714002367_ref40","doi-asserted-by":"crossref","unstructured":"J. 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