Path Control of a Rehabilitation Robot Using Virtual Tunnel and Adaptive Impedance Controller

摘要

Interactive control strategies have been widely used in many rehabilitation robotic devices. The distinctive feature of these strategies is that the patient can be encouraged to actively participant in the therapy program. In this paper, a novel adaptive impedance control method, which allows the patient to actively influence the robot movement trajectory, is presented. The control algorithm developed in this paper is capable of regulating the desired impedance according to the patient's actual deviation from the desired path and the dynamic relationship between patients' motion intention and the reference trajectory. A virtual tunnel surrounding the reference trajectory is designed to ensure the patient's range of motion is always physiologically meaningful. The proposed rehabilitation strategy encourages participants to make contributions to rehabilitation training task as much as possible, which may facilitate provoking motor plasticity and motor recovery. Preliminary experiments with several healthy subjects were conducted to evaluate the feasibility and effectiveness of this strategy. Experimental results demonstrated that subjects could successfully finish the tracking task assisted by robot with the proposed control algorithm.