Interactive control methods for rehabilitation robot

摘要

The rehabilitation robot is a strongly coupled system. Compliant and safe interaction training environment is of great significance to improve the rehabilitation effect on patients. The existing interaction control methods mainly involve movement intention recognition of the human body and interactive control strategies. Movement intention recognition of the human body is generally based on bioelectrical signals or interactive forces/moments, while interactive control strategies include virtual tunnels, impedance control, and functional electrical stimulation. Stable and safe interaction environment is essential to implement rehabilitation training smoothly and avoid secondary injuries to patients. This study fully reviews the above issues and analyzes the existing problems in depth.