Fuzzy Variable Impedance Control for Upper-Limb Rehabilitation Robot

摘要

Robot-assisted rehabilitation therapy has been paid a lot of attention by robot researchers and therapists for its potential ability of rehabilitation training and assess. The purpose of our study is to develop a fuzzy adaptive control strategy based on traditional impedance control for providing optimal force to stroke patients. An online identification of parameters was used to estimate impaired limbpsilas mechanical impedance. By using fuzzy adaptive algorithm, the desired force and impedance control parameters was adjusted automatically according to the patient physical/physiological condition and rehabilitation phase. The effectiveness of the proposed adaptive strategy was evaluated by simulation experiment.