{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T12:16:00Z","timestamp":1767183360957,"version":"3.41.2"},"reference-count":32,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2024,10,14]],"date-time":"2024-10-14T00:00:00Z","timestamp":1728864000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>It has been proven that robot-assisted rehabilitation training can effectively promote the recovery of upper-limb motor function in post-stroke patients. Increasing patients\u2019 active participation by providing assist-as-needed (AAN) control strategies is key to the effectiveness of robot-assisted rehabilitation training. In this paper, a greedy assist-as-needed (GAAN) controller based on radial basis function (RBF) network combined with 3 degrees of freedom (3-DOF) potential constraints was proposed to provide AAN interactive forces of an end-effect upper limb rehabilitation robot. The proposed 3-DOF potential fields were adopted to constrain the tangential motions of three kinds of typical target trajectories (one-dimensional (1D) lines, two-dimensional (2D) curves and three-dimensional (3D) spirals) while the GAAN controller was designed to estimate the motor capability of a subject and provide appropriate robot-assisted forces. The co-simulation (Adams-Matlab\/Simulink) experiments and behavioral experiments on 10 healthy volunteers were conducted to validate the utility of the GAAN controller. The experimental results demonstrated that the GAAN controller combined with 3-DOF potential field constraints enabled the subjects to actively participate in kinds of tracking tasks while keeping acceptable tracking accuracies. 3D spirals could be better in stimulating subjects\u2019 active participation when compared to 1D and 2D target trajectories. The current GAAN controller has the potential to be applied to existing commercial upper limb rehabilitation robots.<\/jats:p>","DOI":"10.3389\/frobt.2024.1404814","type":"journal-article","created":{"date-parts":[[2024,10,14]],"date-time":"2024-10-14T07:37:59Z","timestamp":1728891479000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":2,"title":["A greedy assist-as-needed controller for end-effect upper limb rehabilitation robot based on 3-DOF potential field constraints"],"prefix":"10.3389","volume":"11","author":[{"given":"Yue","family":"Lu","sequence":"first","affiliation":[]},{"given":"Zixuan","family":"Lin","sequence":"additional","affiliation":[]},{"given":"Yahui","family":"Li","sequence":"additional","affiliation":[]},{"given":"Jinwang","family":"Lv","sequence":"additional","affiliation":[]},{"given":"Jiaji","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Cong","family":"Xiao","sequence":"additional","affiliation":[]},{"given":"Ye","family":"Liang","sequence":"additional","affiliation":[]},{"given":"Xujiao","family":"Chen","sequence":"additional","affiliation":[]},{"given":"Tao","family":"Song","sequence":"additional","affiliation":[]},{"given":"Guohong","family":"Chai","sequence":"additional","affiliation":[]},{"given":"Guokun","family":"Zuo","sequence":"additional","affiliation":[]}],"member":"1965","published-online":{"date-parts":[[2024,10,14]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"120","DOI":"10.1177\/1545968313498649","article-title":"Error augmentation enhancing arm recovery in individuals with chronic stroke: a randomized crossover design","volume":"28","author":"Abdollahi","year":"2014","journal-title":"Neurorehabilitation neural repair"},{"key":"B2","doi-asserted-by":"publisher","first-page":"56","DOI":"10.1109\/icorr.2017.8009221","article-title":"The combined action of a passive exoskeleton and an EMG-controlled neuroprosthesis for upper limb stroke rehabilitation: first results of the RETRAINER project","volume":"446","author":"Ambrosini","year":"2017","journal-title":"2017 Int. 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